Errors in RVIZ and Static Transform Publisher with Hokuyo

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I managed to use Hokuyo laser to scan the area and display on the grid. However I still encounter some problems such as:

TF /map: Warning

TF /my_frame: Warning

Map: Warning

I'm not sure what I missed out for configuration.

I have attached a screenshot.rviz screenshot.png

Also, I don't know the reason why /laser is at such a high angle, away from /base_link and /base_laser. Is it suppose to be like this?

I ran roswtf and I got a few errors, one of it was static transform publisher.

* service [/static_transform_publisher_1434589861684093356/get_loggers] appears to be malfunctioning: Unable to communicate with service [/static_transform_publisher_1434589861684093356/get_loggers], address [rosrpc://Gordon:49998]

Any solution to troubleshoot this too?

If anybody of you have the experience of using Hokuyo for mapping, may I know what Display setting should I add?

I have: Grid, Laser Scan, TF, Map

Anymore essential ones?

Thanks for any help!