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There are no conversion rules set for tf. I suggest you check out http://wiki.ros.org/tf/Tutorials or something similar.
dirty hack: The warning will disappear if you run
rosrun tf static_transform_publisher 0 0 0 0 0 base_link odom 100
rosrun tf static_transform_publisher 0 0 0 0 0 0 base_scan odom 100
rosrun tf static_transform_publisher 0 0 0 0 0 0 wheel_left_link odom 100