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As evident from one of the rviz screen shots in ur question the camera frame id is giving error because probably its not defined properly. For mapping first try to get laser scan correctly. Since ur using kinect, i am hoping ur using pointcloud_to_laserscan package for creating fake laser from pointcloud. Try getting laser scans, if ur able to see laserscan properly in rviz then that means ur tf tree is perfect. Once that works fine you can use turtlebot_navigation package to create map. Ideally tf should be like this world->map->odom->base_link->laser.