Transformation Tree Required for Octomap_server

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Hello Everyone,

I am using Kinect to generate the point cloud, it is publishing pointcloud in

/camera_link

frame, then i want to use octomap_server for generating occupancy grid. According to the documentation there is a need to provide tf from sensor to the static frame.

I dont have any idea for required tf for using Kinect and octomap_server.

I thought of creating static /tf for kinect ---> baselink, dynamic odom ----> baselink, and then baselink ---> map.

Am I doing wrong? plz tell me the actual /tf transformation and robot setup required for running octomap_server using kinect.