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The transform from base to kinect is wrong. There should be only one frame without a parent (the root of the tree).

Change this in the second launch file: <node pkg="tf" type="static_transform_publisher" name="base_2_laser_link" args="0 0 0 0 0 0 /base_frame /openni_camera 100"/> to: <node pkg="tf" type="static_transform_publisher" name="base_2_laser_link" args="0 0 0 0 0 0 /base_frame /camera_link 100"/>

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