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Your laser will output a point cloud or an array of points in a topic ("/scan" if I undestood you). This messages will have a frame_id (for example, "base_scan"). To use this points in your program you have to subscribe to this topic (see Basic Tutorials) and if you want to use your points with respect to the robot base you will have to publish the transformation from base_link to base_scan. It can be done with a a static transform publisher.