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Just an answer by myself. There is no need to write a tf publisher just to view the laser data in rviz. Just start (in this case) the urg_node with rosrun urg_node urg_node _ip_address:="192.168.0.10" and start rviz with rosrun rviz rviz after this select in rviz as global frame /laser (or just type it in) than add a new display with laserscan and the topic /laser. here you go and watch your data.