Pepper base_link is located in his torso

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Hello,

I'm running a mapping algorithm on rviz but i have problem with pepper transformation.

Currently running on ubuntu 16.04 with ros kinetic.

I have a problem, when visualizing in rviz, I get many errors of this type in tf :

no transform from [pepper robot/Bumper frame] to frame [odom]

Also I can see the base_link is not located at pepper's foot.

Does anyone have a clear explaination of what is happening ?

To me it looks like it's coming from the driver who doesn't handle odometry correctly.