Laser_ortho_projector transformation problem

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I'm currently using ROS Hydro. I've been trying without success to run laser_ortho_projector without a base/world tf. According to the wiki ( http://wiki.ros.org/laser_ortho_proje... ), this is fine so long as an IMU topic is provided, since the node can determine the attitude of the laser frame relative to the fixed frame.

(Note that while the wiki article referenced is for Fuerte, I used the Hydro package: https://github.com/ccny-ros-pkg/scan_... )

Currently, I have a laser topic (/scan) and IMU topic (/imu/data) successfully publishing. Also, I have a laser > base_link static transformation being broadcast (included in launch file below).

I continue to get the following error:

[ WARN] [ros timestamp]: Skipping scan Could not find a connection between 'world' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.

Here is my launch file:

<launch>

<!-- Static TF Publication -->
<node pkg="tf" type="static_transform_publisher" name="base_to_laser" 
        args="0 0 0 0 0 0 /base_link /laser 40" />

<!-- Laser Ortho Projector-->
<node pkg="laser_ortho_projector" type="laser_ortho_projector_node" name="laser_ortho_projector" output="screen">

<param name="use_imu" type="bool" value="true"/>
<param name="use_pose" type="bool" value="false"/>
<param name="publish_tf" type="bool" value="true"/>
<remap from= "cloud_ortho" to="cloud"/>

</node>

</launch>

Thanks for any assistance!