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here is the echo dump of my /tf

transforms:

header: 

  seq: 0

  stamp: 

    secs: 266

    nsecs: 200000000

  frame_id: /base_link

child_frame_id: /base_laser_link

transform: 

  translation: 

    x: 0.05

    y: 0.0

    z: 0.15

  rotation: 
    x: 0.0
    y: 0.0
    z: 0.0
    w: 1.0

transforms:

header: 

  seq: 0

  stamp: 

    secs: 266

    nsecs: 200000000

  frame_id: /base_footprint

child_frame_id: /base_link

transform: 

  translation: 

    x: 0.0

    y: 0.0

    z: 0.0

  rotation: 

    x: 0.0

    y: 0.0

    z: 0.0

    w: 1.0

transforms:

header: 

  seq: 0

  stamp: 

    secs: 266

    nsecs: 200000000

  frame_id: /odom

child_frame_id: /base_footprint

transform: 

  translation: 

    x: 0.0

    y: -0.0

    z: 0.0

  rotation: 

    x: 0.0

    y: 0.0

    z: 0.0

    w: 1.0

transforms:

header: 

  seq: 0

  stamp: 

    secs: 266

    nsecs: 200000000

  frame_id: /map

child_frame_id: /odom

transform: 

  translation: 

    x: -0.0

    y: -0.0

    z: -0.0

  rotation: 

    x: 0.0

    y: 0.0

    z: 0.0

    w: 1.0

transforms:

header: 

  seq: 0

  stamp: 

    secs: 266

    nsecs: 200000000

  frame_id: /map

child_frame_id: /odom

transform: 

  translation: 

    x: -0.0

    y: -0.0

    z: -0.0

  rotation: 

    x: 0.0

    y: 0.0

    z: 0.0

    w: 1.0

aplogize for the format...I can never get these things to work.
The point is base_frame says its 0,0 which is believable. I just don't know how to transfer the base_frame into the occupancy grid coordinates. Sorry if I am missing something here.

Thanks again, BM