How to subcribe tf transform from map to odom by gmapping into odom to baselink?

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Sorry for late reply, but my odometry transform is from odom to base_link. How could achieve directly from /amp ->/base_link

my tf tree now is /map -> /odom -> base_link

is it what you means as below? /map -> /base_link /map -> /odom

tf tree looks good. Just use the map->base_link transform and you'll get your pose in the map.

Currently I am getting my robot position in map by this way:

odom.pose.pose.position.x = x_move;
odom.pose.pose.position.y = y_move;
odom.pose.pose.position.z = 0.0;
odom.pose.pose.orientation = tf::createQuaternionMsgFromYaw(w_move);

do you mean i should use this lookuptransform instead of odom to get my robot pose? something like this:

try { listener.lookupTransform("map", "base_link", ros::Time(0), transform_in_map); } catch(tf::TransformException &exception) { ROS_ERROR("%s", exception.what()); }

Yes! .

I have made this change:

odom.pose.pose.position.x = transform.getOrigin().x();
odom.pose.pose.position.y = transform.getOrigin().y();
odom.pose.pose.position.z = 0.0;
odom.pose.pose.orientation.z =tf::getYaw(transform.getRotation());;

However, when the odom frames move, the robot remains stationary. The transform from map to odom published by gmapping and amcl is not send to the base_link