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I'm not familiar with stage, but gmapping will require your robot (simulator) to publish transforms between the odometry and robot base frames, and between the robot base and laser frames. The default frame names expected by gmapping are "odom" for the odometry frame, "base_link" for the robot base frame, and whichever frame the laser is being published on.

The transform between "odom" and "map" will be then published by gmapping itself.

Check sections 5.1.1 and 5.1.5 in gmapping docs.