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You dont add scan topic? <arg name="scan_topic" default="/scan"/>

Can you check the transform from baselink to laser scan frame? This error also comes when the scan frame is not broadcasted to baselink. You might try this after adding the scan topic. (laser is the frame name of /scan topic)

  <node pkg="tf" type="static_transform_publisher" name="base_to_laser" args="0.0
    0.0 0.0 0 0 0.0 /base_link /laser 100" />