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You error comes from your second launch file :

<node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="0 0 0 0 0 0 0 base_link laser_1 100" />
<node pkg="tf" type="static_transform_publisher" name="link2_broadcaster" args="0 0 0 0 0 0 0 hokuyo_2 laser_2 100" />

Here you specify as arguments 7 zeros meaning you define the position and orientation using 3 postion coordiantes and a quaternion : {x; y; z; q_x; q_y; q_z; q_w}. The problem is that a default quaternion is not 4 zeros but the field q_w has to be set to 1. (Here is an online visualizer for quaternions that I find really useful).

So you have two options :

• Propperly initialize your two quaternions :

  <node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="0 0 0 0 0 0 1 base_link laser_1 100" />
  <node pkg="tf" type="static_transform_publisher" name="link2_broadcaster" args="0 0 0 0 0 0 1 hokuyo_2 laser_2 100" />
  

• Change the argument and use roll, pitch and yaw instead of a quaternion arguments are then {x; y; z; roll; pitch; yaw} :

  <node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="0 0 0 0 0 0 base_link laser_1 100" />
  <node pkg="tf" type="static_transform_publisher" name="link2_broadcaster" args="0 0 0 0 0 0 hokuyo_2 laser_2 100" />