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The salient error here is "Frame id / does not exist!"

This probably means that somewhere you are getting an empty frame id, and so the transform fails. You should probably try to narrow this down to a single line of code or a particular message that's causing the problem.

I would check that the frame_id on your incoming laser topic is set.

The documentation doesn't say anything about it, but it might be worth setting the frame_id on the point cloud as well.