gmapping setup problem. (using pointcloud to laserscan package)

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hi. I tried to make a map by using gmapping package. but I can't make map

basically, my model publish the position and velocity and lidar data through PoseStamped, TwistStamped, PointCloud2 messages

As far as I know, gampping require the LaserScan message, so package which change pointCloud2 to Laserscan was used

And, in order to make tf Transform from 'base_link' to 'odom', 'rosrun tf static_transform_publisher 0 0 0 0 0 0 odom base_link 100' was run in the shell

but, when I open up the rqt_graph, laserscan subscribe the /tf published by slam_gmapping. and slam_gmapping doesn't subscribe the laserscan topic

How can I solve this problem?? I add screen shot on the link https://blog.naver.com/harry1445/2224...