How can I set up laser_scan_matcher based on my own lidar measurement?

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Hello, I trying to use the laser_scan_matcher tool. I found some demo launch file, which basically a .bag playback. I would like to use it with my laser node. My currently launch is:

<launch>
  <arg name="IS_TWISTSTAMPED" default="true" />
  <arg name="use_rviz" default="true" />
  <arg name="publish_covariance" default="false"/>

  <node pkg="tf" type="static_transform_publisher" name="base_link_to_laser"
    args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /laser 40" />

  <node pkg="lidar" type="laser_scan_publisher" name="laser_scan_publisher" args=""/>

  <group if="$(arg publish_covariance)">
    <param name="laser_scan_matcher_node/do_compute_covariance" value="1"/>
    <param name="laser_scan_matcher_node/publish_pose_with_covariance" value="true"/>
    <param name="laser_scan_matcher_node/publish_pose_with_covariance_stamped" value="true"/>
  </group>
  <node pkg="laser_scan_matcher" type="laser_scan_matcher_node"
    name="laser_scan_matcher_node" output="screen">

    <param name="max_iterations" value="10"/>
  </node>

</launch>

The lidar code, what I'm using which publish LaserScan messages looks like here (its an emulated in first round)

The warning what i got every time, when the LaserScan message published:

[ WARN] [1512405875.489890429]: Could not get initial transform from base to laser frame, Could not find a connection between 'base_link' and 'laser_frame' because they are not part of the same tree.Tf has two or more unconnected trees.

My question is to where to start debug the warning message? HWhat will be te problem? My objective is to reach this result: link