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gmapping needs odometry as /odom -> /base_link. Setting the ~fixed_frame parameter from world to odom in the laser_scan_matcher should provide that. In this way the laser_scan_matcher should provide fake odometry by scanmatching. Alternately you can set the ~odom_frame parameter in gmapping to world (only do one of these).

If you run gmapping now it should work.

The base_link -> laser transform gives the position of the laser relative to your robot. As you are passing 0 0 0, your are saying its in the center of the robot. You should adjust that to the real position of the laser.