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here are the transforms in the launch file that i got from the dukedusty2 tutorial

<node pkg="tf" type="static_transform_publisher" name="temp" args="0 0 0 0 0 0 1 map base_link 50"/>

<!--Base platform is 13cm off of ground!-->
<node pkg="tf" type="static_transform_publisher" name="ground_static_tf_publisher" args="0 0 0.13 0 0 0 1 base_link base_platform 50"/>

<node pkg="tf" type="static_transform_publisher" name="hokuyo_static_tf_publisher"
    args="0.14 0 0.06 0 0 0 1 base_platform base_scan 50"/>

here are the transforms in the launch file that i got from the dukedusty2 tutorial

there seems to be no link between map and odometry and odometry and base_link

<node pkg="tf" type="static_transform_publisher" name="temp" args="0 0 0 0 0 0 1 map base_link 50"/>

<!--Base platform is 13cm off of ground!-->
<node pkg="tf" type="static_transform_publisher" name="ground_static_tf_publisher" args="0 0 0.13 0 0 0 1 base_link base_platform 50"/>

<node pkg="tf" type="static_transform_publisher" name="hokuyo_static_tf_publisher"
    args="0.14 0 0.06 0 0 0 1 base_platform base_scan 50"/>

here are the transforms in the launch file that i got from the dukedusty2 tutorial

there seems to be no link between map and odometry and odometry and base_link

<node pkg="tf" type="static_transform_publisher" name="temp" args="0 0 0 0 0 0 1 map base_link 50"/>

<!--Base platform is 13cm off of ground!-->
<node pkg="tf" type="static_transform_publisher" name="ground_static_tf_publisher" args="0 0 0.13 0 0 0 1 base_link base_platform 50"/>

<node pkg="tf" type="static_transform_publisher" name="hokuyo_static_tf_publisher"
    args="0.14 0 0.06 0 0 0 1 base_platform base_scan 50"/>

here are the transforms in the launch file that i got from the dukedusty2 tutorial

there seems to be no link between map and odometry and odometry and base_link

<node pkg="tf" type="static_transform_publisher" name="temp" args="0 0 0 0 0 0 1 map base_link 50"/>
50"/>
  
<!--Base platform is 13cm off of ground!-->
<node pkg="tf" type="static_transform_publisher" name="ground_static_tf_publisher" args="0 0 0.13 0 0 0 1 base_link base_platform 50"/>

<node pkg="tf" type="static_transform_publisher" name="hokuyo_static_tf_publisher"
    args="0.14 0 0.06 0 0 0 1 base_platform base_scan 50"/>