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Short answer: run rosrun tf view_frames and it will show you the transform tree.
Long answer: Gmapping provides /map-->/odom. You need to provide /odom-->/base_link-->/laser (or whatever you call it). Depthimage_to_laserscan has a parameter that allows you to set the name of the sensor frame. If you leave it blank it defaults to camera_depth_frame. I have not used the openni2 package before, which I am assuming you are using to run the Xtion, but if you run rosrun tf view_frames you can see the transform tree. Chances are, openni2 gives you /camera-->/camera_depth_frame and /camera-->/camera_rgb_frame, or something similar. You will need to make a static transform from /base_link-->/camera.
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