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There looks like 2 separate issues:

1 - you need a transform between base_footprint and base_link, which will be done with a static transform assuming they don't rotate relative to each other.

2 - for map to odom: looking at section 2 of this tutorial, you can configure Hector around ODOM and that is likely what you have done. http://wiki.ros.org/hector_slam/Tutorials/SettingUpForYourRobot. In doing so you probably assign a second parent to base_link and that broke the tree. Only one parent allowed.

To fix this you need to update the config or set up Hector as shown in section 1 of the tutorial. Right now it feels like you're mixing the two methods.

If you intended to set up Hector without reference to ODOM, you need to add this remapping to the launch file

<param name="odom_frame" value="base_footprint" />