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.