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You need some source of odometry information for the SLAM algorithm to work. Just laser scans is not sufficient.

Fortunately, it is possible (although not as accurate) to calculate an odometry estimate from the laser scans. Here are some packages that do this:

  • http://wiki.ros.org/rf2o_laser_odometry
  • http://wiki.ros.org/laser_scan_matcher

Use one of these to calculate an odometry estimate and feed that into the TF tree to provide the pose of each laser scan.