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Please run rosrun tf view_frames and post the image here. I suspect that you have a a /base_link-->/laser frame but not an /odom-->/base_link frame. That transform is generally provided by a localization node like robot_localization or ropot_pose_ekf. Gmapping provides a transform from /world-->/odom, but needs the other links to complete path from /world-->/laser.
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Please run rosrun tf view_frames and post the image here. I suspect that you have a a /base_link-->/laser frame but not an /odom-->/base_link frame. That transform is generally provided by a localization node like robot_localization or ropot_pose_ekf. Gmapping provides a transform from /world-->/odom, but needs the other links to complete path from /world-->/laser.
[EDIT] As you can see in the view_frames image, there is a link from map-->odom provided by slam_gmapping. You need to get a link from odom-->laser_mount_link. This is normally provided by the robot using the inverse kinematic equations, or sometimes using a localization node to combine odometry and IMU data.
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