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@Scott I get errors, that "Transform failed during publishing of map_odom transform: Frame id /base_footprint does not exist!", had to add one more static_transofrm_publisher:

<node pkg="tf" type="static_transform_publisher" name="map_2_base_link" args="0 0 0 0 0 0 /map /base_footprint 100"/> 
<node pkg="tf" type="static_transform_publisher" name="base_footprint_2_base_stabilized_link" args="0 0 0 0 0 0 /base_footprint /base_stabilized 100"/> 
<node pkg="tf" type="static_transform_publisher" name="base_2_base_stablized_link" args="0 0 0 0 0 0 /base_stabilized /base_frame 100"/> 
<node pkg="tf" type="static_transform_publisher" name="base_2_laser_link" args="0 0 0 0 0 0 /base_frame /openni_camera 100"/> 
<node pkg="tf" type="static_transform_publisher" name="base_2_nav_link" args="0 0 0 0 0 0 /base_frame /nav 100"/>

but as Stefan said already, it does not work too well.

@Scott I get errors, that

"Transform failed during publishing of map_odom transform: Frame id /base_footprint does not exist!", "

so I had to add one more static_transofrm_publisher:

<node pkg="tf" type="static_transform_publisher" name="map_2_base_link" args="0 0 0 0 0 0 /map /base_footprint 100"/> 
<node pkg="tf" type="static_transform_publisher" name="base_footprint_2_base_stabilized_link" args="0 0 0 0 0 0 /base_footprint /base_stabilized 100"/> 
<node pkg="tf" type="static_transform_publisher" name="base_2_base_stablized_link" args="0 0 0 0 0 0 /base_stabilized /base_frame 100"/> 
<node pkg="tf" type="static_transform_publisher" name="base_2_laser_link" args="0 0 0 0 0 0 /base_frame /openni_camera 100"/> 
<node pkg="tf" type="static_transform_publisher" name="base_2_nav_link" args="0 0 0 0 0 0 /base_frame /nav 100"/>

but as Stefan said already, it does not work too well.