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If you don't care about anything but the laser's position in the map, you can skip the extra transform and just specify the frame_id param when launching the hokuyo_node:

  • rosrun hokuyo_node hokuyo_node scan:=base_scan _frame_id=base_link

or

  • <node pkg="hokuyo_node" type="hokuyo_node" name="hokuyo" >

    <param name="frame_id" value="base_link" />

    <remap from="scan" to="base_scan" />

    </node>

I believe you can also specify the frame that gmapping uses, in the same fashion.