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If you check gmapping wiki, it has lots of parameters. Therefore, if you run it without setting any parameter, it will launch with default parameters.

For example, in your case, default parameter for odom_frame is odom. So if your odom frame is robot/odom, it may not handle transformations right. Therefore you may try using a launch file with correct parameter settings.

You can take a look at turtlebot repo for a sample launch file.