Calibrating Laser Scanner Transform

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Hey,

I work with a robot that is equipped with a 2D Laser Scanner. And actually its pretty hard to measure the distance from the center of the rorbot to the center of the Laser Scanner accurately by hand. So I think my static transform between the frame for the base link and the frame for the Laser Scanner is not precise enough so that there are small errors when the robots rotates.

Is there any possibility to determine the exact position of the Laser Scanner using Laser Scan Data?

Thanks in advance :)