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Hey !

You need to publish the TF between odom and map. Not on the topic, the actual tf (check out the wiki for more information on it).

For a direct answer, in a launch file, use those lines of code :

<!-- Run a static transform between /odom and /map -->
<node pkg="tf" type="static_transform_publisher" name="odom_map_broadcaster" args="0 0 0 0 0 0 /map /odom 100" />

They will launch a node named odom_map_broadcaster that will publish a constant transform between /map and /odom. Here I suppose they are at the same place at first. Hope this help.

The laser scan is a warning only, it means tf is waiting for it (probably because you told move_base to use it) and you actually don't publish the transform for now. Understand that, even though you publish on the topic, what you miss here is the tf transform.