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You are trying to transform the laser scan to base_link before you have the required tf information. You can solve this by either

• Wait in the callback until the information is ready
• Use a tf message filter
• ignore the exception with a try-catch-block in the scanCallback. Then the first few messages will be dropped and tf will print a warning.

You are trying to transform the laser scan to base_link before you have the required tf information. You can solve this by either

• Wait in the callback until the information is ready
• Use a tf message filtercheck with canTransform whether the required transformation is available. If not ignore the data
• ignore the exception with a try-catch-block in the scanCallback. Then the first few messages will be dropped and tf will print a warning.
• Use a tf message filter