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Ok, with laser scanner fixed on two servos you need following:

create appropriate URDF model (including robot, those servos / joints, your laser scanner)
publish current angles of servos to joint_states topic (sensor_msgs/JointState)
run robot_state_publisher which will transform joint state to TF
read carefully tutorial on how to setup hector_slam on your robot

Then, there will be TF transformation between laser scanner (laser_link in the tutorial) and robot base (base_link).

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