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It looks like you are missing the transform from odom-->base_link. Try running rosrun tf view_frames to see the transform tree. What do you have set as the odom frame? Chances are you have it set to odom. Try changing it to base_link instead.

It looks sounds like you are missing the transform from odom-->base_link. Try running rosrun tf view_frames to see the transform tree. What do you have set as the odom frame? Chances are you have it set to odom. Try changing it to base_link instead.