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Many of the launch files are configurable. Anything in the original launch file with the "arg" tag can be set.

If you need to heavily modify the original launch file, create your own package and copy the launch file to your new package. Then you can edit however you'd like. I would only recommend this if the original launch file arguments don't do what you need (they typically do).

Since you are using a laser scanner without a robot system, you'll need to set the base_link frame to whatever frame your laser scanner is in, since that is your "robot".