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In your launch file, scan_topic parameter is set as /scan, but corresponding tf transform from base_frame to scan is not there. It must be added using static transform publisher. Have a look at this project hector_slam_example. You can use the launch file "hector_hokuyo.launch" in the launch folder. Modify this file to use SICK laser in place of hokuyo.

In your launch file, scan_topic parameter is set as /scan, but corresponding tf transform from base_frame to scan is not there. It must be added using static transform publisher. Have a look at this project hector_slam_example. You can use the launch file "hector_hokuyo.launch" in the launch folder. Modify this file to use SICK laser in place of hokuyo.hokuyo.

Also you are adding two transforms first "base_footprint_to_laser_link" and also "base_frame_to_laser_link" doing this is not correct because in tf each leaf can have only one parent.

In your launch file, scan_topic parameter is set as /scan, but corresponding tf transform from base_frame to scan you are adding two transforms first "base_footprint_to_laser_link" and also "base_frame_to_laser_link" doing this is not there. It must be added using static transform publisher. correct because in tf each leaf can have only one parent.

Have a look at this project hector_slam_example. You can use the launch file "hector_hokuyo.launch" in the launch folder. Modify this file to use SICK laser in place of hokuyo.

Also you are adding two transforms first "base_footprint_to_laser_link" and also "base_frame_to_laser_link" doing this is not correct because in tf each leaf can have only one parent.