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This error indicates that even though your LaserScan messages are being received (by "a" consumer, you don't tell us which), there are no TF transform broadcasts to backup the laser frame that has been specified as value for frame_id in your messages (in the Header).

You'll have to make sure that you either:

1. use a static_transform_broadcaster to provide a transform between something and laser
2. use a URDF with a link named laser to the scene with a joint
3. make the laser frame the root of everything

if you already have a turtlebot URDF, I would suggest to use either option 1 or 2, preferably option 2.