ERROR: Laser has to be mounted planar

edit

Hi,

I'm using Ubuntu 14.04 and ROS indigo.

I published the TF using static_transform_publisher from tf package.

Using the following tag to publish the transformation between the base_link and the camera_link:

<node pkg="tf" type="static_transform_publisher" name="link2_broadcaster" args="0 0 1 0 0 0 1 base_link camera_link 100" />

When I started slam_gmapping node it gives the following error:

Laser has to be mounted planar! Z-coordinate has to be 1 or -1, but gave: 0.00000

The problem is solved when I changed the Y coordinate to 1 or -1 . But this is not the right transformation of my robot.

UPDATE:

This is my transformation tree

and this is the launch file I used:

 <launch>
    <node pkg="tf" type="static_transform_publisher" name="base_to_camera_broadcaster" args="0 0 1 0 0 0 1 base_link camera_link 100" />    
    <include file="$(find pointcloud_to_laserscan)/launch/pointcloud_to_laserscan.launch"/>
    <node pkg="roboteq_motor" type="odom" name="odom"/>
  <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
    <rosparam>
      odom_frame: odom
      map_update_interval: 1.0
      maxUrange: 30.0
      maxRange: 60.0
      sigma: 0.05
      kernelSize: 1
      lstep: 0.05
      astep: 0.05
      iterations: 5
      lsigma: 0.075
      ogain: 3.0
      lskip: 0
      linearUpdate: 0.5
      angularUpdate: 0.436
      temporalUpdate: -1.0
      resampleThreshold: 0.5
      particles: 80
      xmin: -1.0
      ymin: -1.0
      xmax: 1.0
      ymax: 1.0
      delta: 0.025
      llsamplerange: 0.01
      llsamplestep: 0.01
      lasamplerange: 0.005
      lasamplestep: 0.005
      base_frame: base_link
    </rosparam>
</node>
</launch>

Note: I didn't publish The odom to base_link transformation using static_transform_publisher because the node odom publishes this information using sendTransform. Is that ok? or they are different things?