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Publish a tf for base_link -> velodyne via either robot state publisher or just a simple tf broadcaster

 rosrun tf static_transform_publisher 0 0 0 0 0 0 base_link velodyne

Make sure you set laser scan matcher "world frame" to be odom as in section 4.3.1 in http://wiki.ros.org/laser_scan_matcher

Now gmapping will provide map -> odom

Laser scan matcher will provide odom -> base_link

Utilizing the static base_link -> velodyne

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