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Once you've fixed the tf installation issue, here's how to properly run a static_transform_publisher from your launch file:

  <node pkg="tf" type="static_transform_publisher" name="base_frame_2_laser"
  args="0 0 0.05 0 0 0 1 /base_link /laser 50" />

Here I've assumed that the LiDAR is attached at z = +5cm and its orientation is the same as the robot's base link. The number 50 is the publishing rate, which could be lower.