/odom and /map frame in Ranger 3 ROS2 simulation

[ghost]

I wonder if there is any modification we can do so that we can treat original point in Gazebo simulation, and broadcast the tf from the original point as /map, to /base_link?

For now the tf tree looks like:

Yet in Gazebo, the pose of base_link actually can be plotted as:

Any suggestions are much appreciated!