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1 - 3: Gmapping needs odometry published as /tf. Look into hector_mapping for an approach that doesn't require odometry.

4 Parameters are parameters. If you want to declare them something, they are inputs. Especially something that affects an output is an input. The frames shouldn't be considered something to "tune" as parameters. They need to be set correctly.

5 Because your circumvented the actual odometry by setting the odom frame to the camera frame. This also explains why you don't see the algorithm doing anything.