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Your tf tree is apparently not complete. Have a look at the gmapping wiki page. You can find a section on required tf transforms at the bottom.

First, the system needs to be able to transform from your laser sensor into base link. You seem to publish a transform from base_link to base_laser, but your sensor data on the scan topic is in frame openni_depth_frame, i.e. gmapping will not be able to transform the sensor data correctly. Instead of having a static_transform_publisher from base_link to base_laser, publish the transform from base_link to openni_depth_frame.

Second, you don't seem to have an odom transform. However, gmapping requires valid odometry. Normally, the transform is published by your robot's base driver that also publishes on the /odom topic. Make sure you have that set up correctly, otherwise gmapping won't work.