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Use the following piece of codes

import rospy
import roslib
import tf


def handle_transform(parent, child, tr):
    br.sendTransform((tr[0], tr[1], 0), tf.transformations.quaternion_from_euler(0, 0, tr[2]), rospy.Time.now(), child,parent)

if __name__ == "__main__":


    rospy.init_node('logpublisher', anonymous=True) #make node
    rate = rospy.Rate(10) # 5hz

    br = tf.TransformBroadcaster() 
    while not rospy.is_shutdown():

        handle_transform("base_link", "scans", [0,0,0])     
        #handle_transform("map", "odom", [0,0,0])
        #handle_transform("map", "world", [0,0,0])

        #handle_transform("base_link", "camera_link", [0,0,0])
        #handle_transform("base_link", "laser", [0,0,0])
        #handle_transform("camera_link", "camera_depth_frame", [0,0,0])
        rate.sleep()

Use Try with the following piece of codes

import rospy
import roslib
import tf


def handle_transform(parent, child, tr):
    br.sendTransform((tr[0], tr[1], 0), tf.transformations.quaternion_from_euler(0, 0, tr[2]), rospy.Time.now(), child,parent)

if __name__ == "__main__":


    rospy.init_node('logpublisher', anonymous=True) #make node
    rate = rospy.Rate(10) # 5hz

    br = tf.TransformBroadcaster() 
    while not rospy.is_shutdown():

        handle_transform("base_link", "scans", [0,0,0])     
        #handle_transform("map", "odom", [0,0,0])
        #handle_transform("map", "world", [0,0,0])
         #handle_transform("base_link", "camera_link", [0,0,0])
        #handle_transform("base_link", "laser", [0,0,0])
        #handle_transform("camera_link", "camera_depth_frame", [0,0,0])
        rate.sleep()

Try with the following piece of codes

import rospy
import roslib
import tf


def handle_transform(parent, child, tr):
    br.sendTransform((tr[0], tr[1], 0), tf.transformations.quaternion_from_euler(0, 0, tr[2]), rospy.Time.now(), child,parent)

if __name__ == "__main__":


    rospy.init_node('logpublisher', rospy.init_node('tfpublisher', anonymous=True) #make node
    rate = rospy.Rate(10) # 5hz

    br = tf.TransformBroadcaster() 
    while not rospy.is_shutdown():

        handle_transform("base_link", "scans", [0,0,0])     

        rate.sleep()