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You should have a look at the different REP related to frames : REP 103, REP 105 and REP 120.

The standard tf tree in your case looks like : map -> odom -> base_link -> laser. Map should be at the top of the tf tree since it's the world frame.

It's not required to have the base_footprint, it's just the base_link frame with z=0, you are free to create it or not.

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