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The geometry of the wheels is set by the values of the wheel radius and distance between them, so you don't need a TF for the wheel itself. The TF chain you describe of map -> odom -> base_link -> base_laser is all you should need to get this working.

For a skid steering robot I would expect a bit of trial and error would be needed to get good config values for the odometry because skidding is not always an exact science! Have you tried localizing using just the wheel odometry to see if the values from it are approximately correct?

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