HECTOR SLAM + SICK LMS 200: Map not appearing

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We are trying to implement Hector SLAM (without odom) using SICK LMS 200 laser range finder and we desperately need help. We are unable to display the map despite adding the /map topic in the Rviz displays.

One error that we are persistently getting is "lookupTransform base_footprint to /camera_link timed out. Could not transform laser scan into base_frame."

Here is the launch file we are using:

mapping2.launch

<launch>

    <node pkg="tf" type="static_transform_publisher" name="map_to_scanmatcher" args="0 0 0 0 0 0 /map /hector_mapping 100"/>
   <node pkg="tf" type="static_transform_publisher" name="map_to_base_footprint" args="0 0 0 0 0 0 /map /base_footprint 100"/>
  <node pkg="tf" type="static_transform_publisher" name="base_footprint_to_laser_link" args="0 0 0 0 0 0 /base_footprint /camera_link 100"/>
  <node pkg="tf" type="static_transform_publisher" name="base_footprint_to_base_link" args="0 0 0 0 0 0 /base_footprint /base_link 100"/>
 <node pkg="tf" type="static_transform_publisher" name="base_link_to_base_stabilized" args="0 0 0 0 0 0 /base_link /base_stabilized 100"/>
 <node pkg="tf" type="static_transform_publisher" name="base_stablized_to_base_frame" args="0 0 0 0 0 0 /base_stabilized /base_frame 100"/>
 <node pkg="tf" type="static_transform_publisher" name="base_frame_to_laser_link" args="0 0 0 0 0 0 /base_frame /camera_link 100"/>
 <node pkg="tf" type="static_transform_publisher" name="base_to_nav_link" args="0 0 0 0 0 0 /base_frame /nav 100"/>

  <arg name="tf_map_scanmatch_transform_frame_name" default="scanmatcher_frame"/>
  <arg name="base_frame" default="base_footprint"/>
   <param name="pub_map_odom_transform" value="true"/>
   <param name="map_frame" value="map" />
     <param name="base_frame" value="base_frame" />
      <param name="odom_frame" value="base_frame" />

     <arg name="odom_frame" default="nav"/>
    <arg name="pub_map_odom_transform" default="true"/>
     <arg name="scan_subscriber_queue_size" default="5"/>
    <arg name="scan_topic" default="scan"/>
    <arg name="map_size" default="2048"/>

 <node
    pkg="sicktoolbox_wrapper"
     type="sicklms"
     name="sicklms"
  >
    <rosparam command="load" file="./Packages/hectorslam/launch/lms200_config.yaml" />
  </node>

 <node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">
<!-- Frame names -->
<param name="map_frame" value="map" />
<param name="base_frame" value="$(arg base_frame)" />
<param name="odom_frame" value="$(arg odom_frame)" />

<!-- Tf use -->
<param name="use_tf_scan_transformation" value="true"/>
<param name="use_tf_pose_start_estimate" value="false"/>
<param name="pub_map_odom_transform" value="$(arg pub_map_odom_transform)"/>

<!-- Map size / start point -->
<param name="map_resolution" value="0.050"/>
<param name="map_size" value="$(arg map_size)"/>
<param name="map_start_x" value="0.5"/>
<param name="map_start_y" value="0.5" />
<param name="map_multi_res_levels" value="2" />

<!-- Map update parameters -->
<param name="update_factor_free" value="0.4"/>
<param name="update_factor_occupied" value="0.9" />    
<param name="map_update_distance_thresh" value="0.4"/>
<param name="map_update_angle_thresh" value="0.06" />
<param name="laser_z_min_value" value = "-1.0" />
<param name="laser_z_max_value" value = "1.0" />

<!-- Advertising config --> 
<param name="advertise_map_service" value="true"/>

<param name="scan_subscriber_queue_size" value="$(arg scan_subscriber_queue_size)"/>
<param name="scan_topic" value="/scan"/>
<param name="tf_map_scanmatch_transform_frame_name" value="$(arg tf_map_scanmatch_transform_frame_name)" />

  </node>

   <include file="$(find hector_geotiff)/launch/geotiff_mapper.launch"/>

   </launch>

Here is the configuration file that we are using for the SICK LMS 200 LIDAR:

 port: /dev/ttyS2 
 baud: 38400
 connect_delay: 35 
 scan_duration: 0.025 #no info about that in SICK-docu, but 0.025 is believable and looks good in rviz
 scan_cycle_time: 0.040 #SICK-docu says S300 scans every 40ms
 inverted: false
  scan_id: 7
  frame_id: /camera_link
  scan_intervals: [[-1.5708, 1.5708]] #[rad] these intervals are included to the scan
  fields: 
  '1':
  scale ...