I believe what you need is an equivalent of my_tf_configuration_dep.
create_autonomy (specifically, ca_driver) provides odometry on a topic and the transform from the odometry frame to the base frame on /tf. And urg_node is providing sensor data.
Specifically, I think you need to provide the transform from your robot base to your range finder. There are a few ways you could do this. Assuming that your range finder will not be moving with respect to the robot base, you could use a static transform publisher. For example:
rosrun tf2_ros static_transform_publisher X Y Z YAW PITCH ROLL base_footprint laser
I'm assuming that the robot base and range finder frames are base_footprint and laser, but these are configurable in create_autonomy and urg_node respectively. You should replace X Y Z YAW PITCH ROLL with the actual transformation from base_footprint to laser.
Launch file equivalent:
<launch>
<node pkg="tf2_ros" type="static_transform_publisher" name="base_to_laser_broadcaster"
args="X Y Z YAW PITCH ROLL base_footprint laser" />
</launch>
Other options are to describe your robot configuration with URDF and publish the transform using robot_state_publisher (tutorial1, tutorial2) or, publish the laser transform from code (tutorial).
