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You need to change the launch file from the tilt_scan value in the line <remap from="scan" to="tilt_scan"/> to the topic that the hokuyo publishes (base_scan/scan?). Also, in the launch file, it specifies the "fixed_frame". What this means is that the data coming from the scanner will be transformed into the robot's base_link frame. If you change this frame to "/laser", all of the assembled data will be displayed with respect to the laser, rather than with respect to the main body of the robot. You might want this to happen. If so, change the value of "fixed_frame" to "/laser". Otherwise, you can leave it as "base_link"