Gmapping and TF frames

Hello, I'm using Ubuntu 14.04 and ROS indigo I published base_link>camera_link frames using static_transform_publisher as follows: Then, when I started slam_gmapping it gives the following error: Laser has to be mounted planar! Z-coordinate has to be 1 or -1, but gave: 0.00000 This is solved when I change X value to 0 in the transformation as follows: But this doesn't reflect my robot's situation correctly. Also, I noticed in rviz that camera_depth_optical_frame and camera_rgb_optical_frame frames are upside down (as in the picture) and it is also upside down when I change the X value to 0. Is this normal?