tf tree is invalide because it contains a loop

edit

I am trying to display my laserscan on rviz but its status flickers between Status:Ok and Status:Error because of Transform.

Transform [sender=/depthimage_to_laserscan]
For frame [camera_depth_frame]: No transform to fixed frame [base_footprint]. 
TF error: [The tf tree is invalid because it contains a loop. 
Frame camera_rgb_optical_frame exists with parent camera_rgb_frame. 
Frame camera_rgb_frame exists with parent base_link. 
Frame base_footprint exists with parent odom. 
Frame base_link exists with parent base_footprint. 
Frame left_cliff_sensor_link exists with parent base_link. 
Frame leftfront_cliff_sensor_link exists with parent base_link. 
Frame right_cliff_sensor_link exists with parent base_link. 
Frame rightfront_cliff_sensor_link exists with parent base_link. 
Frame wall_sensor_link exists with parent base_link. 
Frame camera_depth_frame exists with parent camera_rgb_frame. 
Frame camera_depth_optical_frame exists with parent camera_depth_frame. 
Frame camera_link exists with parent camera_rgb_frame. 
Frame front_wheel_link exists with parent base_link. 
Frame gyro_link exists with parent base_link. 
Frame base_laser_link exists with parent base_link. 
Frame laser exists with parent base_link. 
Frame plate_0_link exists with parent base_link. 
Frame plate_1_link exists with parent plate_0_link. 
Frame plate_2_link exists with parent plate_1_link. 
Frame plate_3_link exists with parent plate_2_link. 
Frame rear_wheel_link exists with parent base_link. 
Frame spacer_0_link exists with parent base_link. 
Frame spacer_1_link exists with parent base_link. 
Frame spacer_2_link exists with parent base_link. 
Frame spacer_3_link exists with parent base_link. 
Frame standoff_2in_0_link exists with parent base_link. 
Frame standoff_2in_1_link exists with parent base_link. 
Frame standoff_2in_2_link exists with parent base_link. 
Frame standoff_2in_3_link exists with parent base_link. 
Frame standoff_2in_4_link exists with parent standoff_2in_0_link. 
Frame standoff_2in_5_link exists with parent standoff_2in_1_link. 
Frame standoff_2in_6_link exists with parent standoff_2in_2_link. 
Frame standoff_2in_7_link exists with parent standoff_2in_3_link. 
Frame standoff_8in_0_link exists with parent standoff_2in_4_link. 
Frame standoff_8in_1_link exists with parent standoff_2in_5_link. 
Frame standoff_8in_2_link exists with parent standoff_2in_6_link. 
Frame standoff_8in_3_link exists with parent standoff_2in_7_link. 
Frame standoff_kinect_0_link exists with parent plate_2_link. 
Frame standoff_kinect_1_link exists with parent plate_2_link. 
Frame left_wheel_link exists with parent base_link. 
Frame right_wheel_link exists with parent base_link. 
Frame scan1 exists with parent cart_frame. 
Frame scan2 exists with parent cart_frame. ]

How do I get rid of the error?

EDIT:

tf frames