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I haven't quite understood what you want to do, but here is what the frames mean:

• ground_truth_frame_name was used to compute error metrics, but hasn't been used in years (so might not work) as the error metric is now computed with external test scripts
• fixed_frame_name is how the origin of the map is called
• base_frame_name is only required if you have an existing tf tree that includes the sensor (e.g. on a robot) and want to specify the transformation from the map (i.e., fixed_frame_name) to the root of that tree (on a robot that's usually "base_link")

If the base_frame_name is not the frame of your sensor data as specified in your message's header->frame_id (e.g. "openni_rgb_optical_frame"), rgbdslam tries to get the transformation between the sensor frame and the base frame.