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Given the information that you added, it's clear that this is not a problem of odometry or gmapping - both are working fine. You are just not sending the tf information for base_link -> right_wheel (correctly), so it can't transform that in any way.

Probably you URDF is not setup for that or the joint state you are publishing doesn't match the URDF or a joint state is missing. For checking/debugging you should see similar errors when you try to request base_link -> right_wheel, so you can ignore gmapping/odometry for now.

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