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How to calculate /tf in hector_slam?

Hello, I am studying mapping with hector_slam and hector_mapping.

I run $ roslaunch hector_slam_launch tutorial.launch, and $ rosbag play Team_Hector_MappingBox_RoboCup_2011_Rescue_Arena.bag --clock

Basing on the diagram of $rqt_graph, the mapping is performed on data from laser scan with respect to /tf data. Does anyone know how to produce /tf data in this case? It looks like they only use IMU data somehow to estimate the transformation?

Thanks! I very appreciate your help.