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I don't think your issue comes from base_link->odom but from laser_frame->base_link and since there is an issue with base_link, the link with odom isn't created.
From the gmapping wiki, section 4.1.5 : Required tf transforms :
the frame attached to incoming scans → base_link
usually a fixed value, broadcast periodically by a robot_state_publisher, or a tf static_transform_publisher.
In your launch file you have robot_state_publisher AND static_transform_publisher so I'm pretty sure you redifine a new parent to the laser_frame which often leads to that kind of error in the tf tree. I would suggest to get rid of the static_transform_publisher, if your URDF is correctly made with the laser frame inside that should work fine.
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