static_transform_publisher base_link base_laser

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Is this line enough in order to use tf package for set a fixed relation between base_link and base_laser frames in my launch file?

Yes, if you want them to have an identity transform inbetween them (0 0 0 0 0 0).

do i need other nodes or scripts to set /map frames or others especially when we want to use packages like gmapping or amcl?

For gmapping and amcl, which both publish the map->odom transform, you want to make sure you already provide an accurate odom->base_link transform, as well as publishing odometry to the odom topic. More info here.