Build a map using kinect for humanoid robot

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Hello, i have some troubles. Im trying to use slam algorithm rtab-map for humanoid robot in simulation but tf tree haven't connection between odom and base_link. For example, mobile robot can provide odom via gazebo differential drive plugin, but i don't know what need to use for my own humanoid robot or how to provide connection odom --> base_link. I'm new in ros and gazebo. It would be great if anyone could give me some suggestions