transform Laser Scan To PointCloud

edit

Dear people,

I want to transform laser to point cloud and then see it in rviz.

I have the following code hokuyo_listener_cu.cpp

I have also a tf_broadcaster.cpp that broadcast a transformation from base_link to base_laser.

when I run hokuyo_listener.cpp I get the error:

what(): Frame id /laser does not exist! Frames (3): Frame /base_laser exists with parent /base_link. Frame /base_link exists with parent NO_PARENT.

Here I have difficulties to really interpret the function

transformLaserScanToPointCloud("base_link", *scan, cloud, tfListener_);

1.-How base_link shall be declare?

2.-and how tfListener_ will get the tf transform?

well, maybe are a very basic questions, but well, I dont get it :) any help will be appreciate it :)