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[UPDATE]

Yup... you have to rotate the link between the laser and the robot body by 90 degrees. See the following image:

The red line (x direction) of the camera_link is pointing to the right side of the robot. It should be pointing to the front!

Try changing this in your URDF

...


<link name="camera_link">
  <visual>
    <geometry>
      <box size="0.065 0.28 0.04"/>
    </geometry>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <material name="black">
      <color rgba="0 0 0 1"/>
    </material>
  </visual>
</link>

...

<joint name="base_to_scanner" type="fixed">
  <parent link="base_link"/>
  <child link="camera_link"/>
  <origin xyz="0.10 0 0.455" rpy="0 0 0"/>
</joint>