How to create world frame for intel dataset ?

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I am trying to use http://wiki.ros.org/laser_scan_matcher package to estimate odometery using laser scans. But when I try to run the code using intel bag file it says " For frame [laser]: Fixed Frame [world] does not exist". But when I run the same code with demo.bag file provided it runs perfectly fine. I think I have to define world frame and publish tf of the base_link wrt world frame. But the issue is I have no odometry available. How should I do it in this case.