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When your warning messages refer to a "transform" they are referring to /tf topic messages.
It sounds like you need a "static transform publisher" to tell ROS Noetic about the relationship between base_footprint and map. More specifically, it wants to know how these things relate to each other. Is the laser scanner 5cm above the centerpoint of the robot, or 10mm to the right?
This should have all you need to get started: ROS.org, "tf, static_transform_publisher"
I had a similar problem, and simply adding a few static transform publishers to my launch file got everything working.
Good luck!
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