[Groovy] How to link /scan to base_link?

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But I don't have the package tf I tried to git clone https://github.com/ros/geometry.git but when I catekin_make, i got too much error

Moreover, I tried to add your command in my launch file and it said cannot launch node of type [tf/static_transform_publisher]: can't locate node [static_transform_publisher] in package [tf]

Why don't you `sudo apt-get install` the tf package then ? But according to your second comment it seems like you have it. Could you edit your question to add those information : Do you have the tf package (in the depot, no need to git clone) ?

No, I didn't manage to do it in groovy, so yesterday I installed a second distro, hydro, in which i managed to install, but it still doesn't work. So if in groovy you have the solution, I'm still ready to take it. Thank you

I groovy when i maid sudo apt-get install ros-groovy-tf it said there is any package of this name

That solution work with groovy and hydro. Try `apt-cache search ros-groovy-tf` to search for the package to install. TO make sure it's install use `dkpg -l | grep tf`

It found this in apt-cache search ros-groovy-tf

ros-groovy-tf2-geometry-msgs - tf2_geometry_msgs ros-groovy-tf2-kdl - KDL binding for tf2 ros-groovy-tf2-msgs - tf2_msgs ros-groovy-tf2-ros - This package contains the ROS bindings for the tf2 library, for both Python and C++.