Frame odom does not exist in moveit_planner.launch

[Primula-a]

When launching moveit for pepper by:
roslaunch pepper_moveit_config moveit_planner.launch
the interactive markers of the robot are not visible, because the odom fixed frame does not exist, and a global error stops the execution.
After changing the fixed frame to base_link the error is fixed, but the interactive markers and all the transformations do not work because they require odom.
How can I solve this bug?
I try to add the node pkg tf as in the demo.launch file, but it doesn't work.
I use Ubuntu 16.04 and ROS kinetic.

[tomkimsour]

To me the error was coming from gazebo, in the exemple they use a different version

[SamuelMN005]

which version of gazebo is used in the example?

[tomkimsour]

I believe it was gazebo 7