# Revision history [back]

You are missing important transforms. Without them, your data is not properly tied together. See REP 105 for the coordinate transforms you need to provide.

For the laser scan, you need to tell TF where your laser scanner is in relation to your robot. Add a link to your URDF to represent the laser and then add a joint from the base_footprint to it. Something like this should work, although it won't have a visualisation of the sensor itself and you will need to fix the actual location of the sensor on the robot:

<joint name="base_to_laser" type="fixed">