Using Gmapping with kitti/velodyne topic?

edit

hi I am using below launch file to experiment with kitti dataset.I am actually converting velodyne point clouds to laserscan using point to laser scan node. The feed the laser scan to Gmapping.However I am getting message stating that no map data found ?

<?xml version="1.0"?>

<launch>

  <node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="pointcloud_to_laserscan">
      <remap from="cloud_in" to="/kitti/velo/pointcloud"/>
      <!--remap from="scan" to="/camera/scan" /-->
    </node>

    <!--Launch Gmapping-->
  <node pkg="gmapping" type="slam_gmapping" name="gmapping_thing" output="screen">
    <!--remap from="scan" to="/scan" /-->  
  </node-->

    <node pkg="rosbag" type="play" name="player" output="screen" args=" $(find project2pcl)/rosbag/kitti_2011_09_26_drive_0005_synced.bag"/> 



  </launch>

I have made the following changes on checking out the TF required documentation, Now Gmapping hangs.

<node pkg="gmapping" type="slam_gmapping" name="gmapping_thing" output="screen">
  <param name="odom_frame" value="world"/>

</node>

When i look at TF frame The map->world->base_link. i am not able to post the pdf due to no karma points