Gmapping not recognizing /tf data

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Hello,

I am trying to get a gmapping SLAM stack running on my Create 2, RP LIDAR A2 running on an Intel NUC.

The first ting I am trying to tackle building a map of my environment. I have a ROS bag recorded with my /scan and /tf data. However when I run

rosparam set use_sim_time true

rosrun gmapping slam_gmapping scan:=/scan _odom_frame:=/tf

play my rosbag

and run

rosrun map_server map_saver -f the name of my map

I get the error

Dropped 100.00% of messages so far. Please turn the [ros.gmapping.message_notifier] rosconsole logger to DEBUG for more information.

From my research so far it looks like this is becasue my /tf topic is not formatted correctly.

Here is some sample output from my /tf topic:

{
    "transforms": [
        {
            "header": {
                "stamp": {
                    "secs": 1567610189,
                    "nsecs": 432388718
                },
                "frame_id": "odom",
                "seq": 0
            },
            "transform": {
                "translation": {
                    "y": -0.0005495854,
                    "x": 0.0168445315,
                    "z": 0
                },
                "rotation": {
                    "y": 0,
                    "x": 0,
                    "z": -0.0266392006,
                    "w": 0.9996451135000001
                }
            },
            "child_frame_id": "base_footprint"
        }
    ]
}

Any insight into enabling the map builder to recognize my transform would be greatly appreciated!