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Could you try and do this. On the master (you can add this to the ~/.bashrc file and then source the file) define - export ROS_IP= ${your_laptop_ip} and on the RasPi define these two parameters - export ROS_IP= ${Raspi_ip} and export ROS_MASTER_URI=http://${your_laptop_ip}:11311 . You can define this in the bashrc as well. Try and see if this solves the issue. If it still gives the error you may want to look at this previous post - http://answers.ros.org/question/38402/lookuptransform-base_link-to-laser0_frame-timed-out-could-not-transform-laser-scan-into-base_frame/