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Specify the relationship between the 2 links using the joint origin, e.g.,

 <joint name="bb" type="fixed">
    <origin xyz="0 0 1" rpy="0 0 3.1416"/>
    <parent link="base_link"/>
    <child link="laser"/>
 </joint>

See http://wiki.ros.org/urdf/XML/joint for more info.

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