laser_frame is pointing upwards

edit

hello everyone ,im very new to ros and found some issue with gmapping recently .my laser scanner is pointing upwards and couldnt able to do gmapping and i want to confirm whether my tf structure is working good or not

<robot
  name="archer">
  <link
    name="base_link">
    <inertial>
      <origin
        xyz="-0.0031521 -0.070703 0.33777"
        rpy="0 0 0" />
      <mass
        value="238.44" />
      <inertia
        ixx="39.449"
        ixy="-0.18466"
        ixz="-0.28812"
        iyy="16.942"
        iyz="-7.836"
        izz="29.425" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://archer_desctest/meshes/base_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.1098 0.1098 0.1098 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://archer_desctest/meshes/base_link.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="Wheel_1">
    <inertial>
      <origin
        xyz="0 6.9389E-18 0"
        rpy="0 0 0" />
      <mass
        value="1.232" />
      <inertia
        ixx="0.0033433"
        ixy="-8.6429E-19"
        ixz="-7.2476E-19"
        iyy="0.0033433"
        iyz="7.219E-19"
        izz="0.0062939" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://archer_desctest/meshes/Wheel_1.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.1098 0.1098 0.1098 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://archer_desctest/meshes/Wheel_1.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="RHS"
    type="continuous">
    <origin
      xyz="-0.2 0.075 -0.01"
      rpy="0 1.57 0" />
    <parent
      link="base_link" />
    <child
      link="Wheel_2" />
    <axis
      rpy="0 1 0"
      xyz="0 0 1" />
  </joint>
  <link
    name="Wheel_2">
    <inertial>
      <origin
        xyz="0 6.9389E-18 0"
        rpy="0 0 0" />
      <mass
        value="1.232" />
      <inertia
        ixx="0.0033433"
        ixy="-8.6429E-19"
        ixz="-7.2476E-19"
        iyy="0.0033433"
        iyz="7.219E-19"
        izz="0.0062939" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://archer_desctest/meshes/Wheel_2.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.1098 0.1098 0.1098 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://archer_desctest/meshes/Wheel_2.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="LHS"
    type="continuous">
    <origin
      xyz="0.2 0.075 -0.01"
      rpy="0 1.57 0" />
    <parent
      link="base_link" />
    <child
      link="Wheel_1" />
    <axis
      rpy="0 1 0"
      xyz="0 0 1" />
  </joint>
  <link
    name="laser_frame">
    <inertial>
      <origin
        xyz="0.026431 -0.000309 0.0041422"
        rpy="0 0 0" />
      <mass
        value="0.32426" />
      <inertia
        ixx="0.00070878"
        ixy="-1.2652E-06"
        ixz="1.7595E-06"
        iyy="0.00067504"
        iyz="-1.6612E-05"
        izz="0.00056684" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 ...