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As it revealed, rf2o_laser odometry determines linear speeds as scalars, not vectors or projections. I solved the problem using internal laser_pose_on_robot_ variable which represents transform from mounting point of the laser to base_link. So, the source code of rf2o_laser_odometry was changed.
The easiest way to solve the described problem is to recalculate the speed over the angle the laser lengthwise axis is located relative to robot's lengthwise axis. For easiest cases like mine there is no need to recalculate also transversal speed but that is the condition for future improvements.
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