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It seems you are mixing up a few things. If you are new to ROS, then best start with the beginners tutorials to get an understanding of the basic workings, frames and functionalities.

1. Do not run gmapping just the get a "map" frame, unless you really have a 2D laser running and an environment to map (real or Gazebo). You can use the fake_localization launch file in footstep_planner to directly map /odom to /map (i.e. open-loop navigation based on odometry.
2. You launch a simulated Nao and you launch a footstep planner, of course they are not connected in any way "magically"... for real navigation planning you need to use the footstep_navigation node instead, but be prepared to read the source code (there is no official documentation - use at your own risk). The footstep planner itself does not care about the actual robot, only about its stepping model.
3. The default Nao visualization is a simple cylinder model because the real mesh model currently cannot be distributed (yet) due to legal reasons. Ask Aldebaran Robotics for further explanations or read the current progress on the mailing list: https://groups.google.com/forum/?fromgroups#!forum/ros-sig-aldebaran