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You have to publish a static transform between scan and base_frame to solve that error. Have a look at this project hector_slam_example . This project uses Hokuyo UTM-30LX with Hector_slam. You can use the launch file "hector_hokuyo.launch" in the launch folder. You will have to replace the hokuyo related parts with SICK i.e. initialising SICK sensor related node. Both of these sensors publish their laser scans on /scan topic so that should not be a problem.