Error viewing map in RVIZ

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The actual transform would depend on where the origin of the map frame is relative to the robot. That is something that would not really be doable in the end with a static transform, unless you always start your robot in the same place and in the same orientation.

To verify that the map is being published you could try setting the fixed frame in rviz to map, if the option does not appear in the dropdown list just type it in there, if the map is being published and you have it visualized in the rviz config it should show up.

Next you could try giving a static transform between the map frame and your odom frame. Without knowing anything about the map and odom frames I would just start with a transform that would set the odom frame to be in the origin of the map frame and see how it looks. You can read more about the static transform publisher from the ros wiki. With the frames you have given the command would be something like this:

rosrun tf static_transform_publisher 0.0 0.0 0.0 0.0 0.0 0.0 map summit_xl_a_odom 100

To verify that this transform is published you could run roscore and the previous command and run rosrun rqt_tf_tree rqt_tf_tree from another terminal. There are various other tools to debug tfs like rosrun tf tf_echo /frame_id /other_frame_id

For debugging you could figure out the correct transform based on some fixed heading and location in your testing area to your map and always start your robot there.

In the end the transform between map and odom would be published by some node that would calculate the transform based on some logic. One option for such a node is https://github.com/cra-ros-pkg/robot_... . Getting the robot localization node running properly requires quite a bit of work and trial and error. The documentation for the mentioned node is here.