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You have two nodes publishing the same transform. slam_gmapping is producing your odom_base_link->base_link transform, and the static_transform_publisher is providing the same transform. Get rid of this line:

<node pkg="tf" type="static_transform_publisher" name="odom_base_to_base_broadcaster" args="0 0 0 0 0 0 /odom_base_link /base_link 100"/>

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