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Change the fixed_frame parameter to reflect the real name of your odometry tf frame. In my case that was just odom. Please have a look at your tf treet to find the frame you want. You can then change it using dynamic reconfigure or just add it in the launch file:

<node pkg="leg_detector" type="leg_detector" name="leg_detector" args="scan:=scan $(find leg_detector)/config/trained_leg_detector.yaml" output="screen">
    <param name="fixed_frame" type="string" value="odom" />
</node>

If you don't have an odometry frame just use the one of the laser and see if that works for you.