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Take a look at http://ros.org/reps/rep-0105.html#coordinate-frames to understand the various frames used.

Use rosrun tf tf_monitor or rosrun tf view_frames to see if the required frames are being broadcast.

In general, the /map (to /odom or /base_link) frame is broadcast by a localization node (eg. amcl or gmapping). The /odom (to /base_link) frame is broadcast by an odometry producing node (eg. from your wheel encoders or robot_pose_ekf).

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