Problem using gmapping slam MessageFilter[target=odom]

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Hi everyone, I'm currently building my own robot, and I want to implement a slam algorithm. Whenever I try to run gmapping, I get this error:

[ WARN] [1543086745.282958810]: MessageFilter [target=odom ]: Dropped 100.00% of messages so far. Please turn the [ros.gmapping.message_notifier] rosconsole logger to DEBUG for more information.

The debug logger just says that all messages are dropper. I know that it's a problem of message synchronization, or a problem in the TF tree but I didn't managed to find the error. I have a lidar broadcasting scan data linked to /laser_frame , I compute the odometry data by integrating the wheel's encoder values, and publish it in a /odom topic and through a tf broadcaster. To make it work I've added two static transform to my launch file.

Here is the detail of the gmapping node :

user@user-G551JM:~$ rosnode info /slam_gmapping 
--------------------------------------------------------------------------------
Node [/slam_gmapping]
Publications: 
 * /map [nav_msgs/OccupancyGrid]
 * /map_metadata [nav_msgs/MapMetaData]
 * /rosout [rosgraph_msgs/Log]
 * /slam_gmapping/entropy [std_msgs/Float64]
 * /tf [tf2_msgs/TFMessage]

Subscriptions: 
 * /scan [sensor_msgs/LaserScan]
 * /tf [tf2_msgs/TFMessage]
 * /tf_static [tf2_msgs/TFMessage]

Services: 
 * /dynamic_map
 * /slam_gmapping/get_loggers
 * /slam_gmapping/set_logger_level


contacting node http://10.42.0.224:33867/ ...
Pid: 4043
Connections:
 * topic: /rosout
    * to: /rosout
    * direction: outbound
    * transport: TCPROS
 * topic: /tf
    * to: /slam_gmapping
    * direction: outbound
    * transport: INTRAPROCESS
 * topic: /tf
    * to: /tf2_web_republisher
    * direction: outbound
    * transport: TCPROS
 * topic: /map
    * to: /rviz
    * direction: outbound
    * transport: TCPROS
 * topic: /tf
    * to: /slam_gmapping (http://10.42.0.224:33867/)
    * direction: inbound
    * transport: INTRAPROCESS
 * topic: /tf
    * to: /robot_state_publisher (http://ubiquityrobot.local:38101/)
    * direction: inbound
    * transport: TCPROS
 * topic: /tf
    * to: /base_link_to_laser4 (http://ubiquityrobot.local:44841/)
    * direction: inbound
    * transport: TCPROS
 * topic: /tf
    * to: /odometry_computation (http://10.42.0.224:40363/)
    * direction: inbound
    * transport: TCPROS
 * topic: /tf
    * to: /odom_to_base_link (http://10.42.0.224:46723/)
    * direction: inbound
    * transport: TCPROS
 * topic: /tf_static
    * to: /robot_state_publisher (http://ubiquityrobot.local:38101/)
    * direction: inbound
    * transport: TCPROS
 * topic: /scan
    * to: /ydlidar_node (http://ubiquityrobot.local:37987/)
    * direction: inbound
    * transport: TCPROS

I don't understand the purpose of the /tf_static topic , maybe it plays a role in this. Here is my tf tree, the raspicam is included by default on the ubiquity robot image I use on my raspberry pi.

Thank you for your help !