ethzasl_icp_mapping error

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Hi,

I am using the package "ethzasl_icp_mapping" to build a 3D map using a stereo camera. When i feed the mapper node with a pointcloud, i have the following error :

ERROR Cannot lookup TOdomToScanner(odom to /stereo_camera)

How can i resolve this ?

With : rosrun tf tf_monitor, i have :

RESULTS: for all Frames

Frames: Frame: /odom published by /mapper Average Delay: 0.00053216 Max Delay: 0.0137875

All Broadcasters: Node: /mapper 878.531 Hz, Average Delay: 0.00053216 Max Delay: 0.0137875

RESULTS: for all Frames

Frames: Frame: /odom published by /mapper Average Delay: 0.000526054 Max Delay: 0.0137875

All Broadcasters: Node: /mapper 873.915 Hz, Average Delay: 0.000526054 Max Delay: 0.0137875

..........

It appears that i have no /stereo_camera frame that is being published. How can i create it ?

Thank you