How to get icp_odometry using laserscan from lidar

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I am trying to obtain odometry message from icp_odometry node. First I initialize the tf tree from base_link as the parent and base_laser_link as the child tf. Then I launch the lidar node which publishes laserscan message. Finally I run the icp_odometry node using "rosrun rtabmap_ros icp_odometry" However I begin to receive the following errors:

[ WARN] [1657128362.041324570]: odometry: Could not get transform from base_link to laser (stamp=1657128361.940539) after 0.100000 seconds ("wait_for_transform_duration"=0.100000)! Error="canTransform: source_frame laser does not exist.. canTransform returned after 0.100369 timeout was 0.1."
[ERROR] [1657128362.041434709]: TF of received laser scan topic at time 1657128361.797174s is not set, aborting odometry update.

Any help is appreciated thanks.