I was using the Livox lidar to provide the raw pointcloud msg(the frameid here was changed into 'laser') and then use 'poincloudto_laserscan' module to publish the topic /scan. And I also published the tf tree in the launch file with:

node pkg="tf" type="statictransformpublisher" name="baselinktolaser" args="0 0 1 0 0 0 laser base_link 100"

So the situation is that, I have got the /scan topic, and provided the tf from 'laser' to 'base_link'. It supposed to work well but I got the error:

[ INFO] [1615110469.391471468]: lookupTransform baselink to laser timed out. Could not transform laser scan into baseframe.

(Sorry for the poor picture quality )

The tf tree is just base_link->laser

It really confused me, so finally I come for help, any suggestion well be fully appreciated!!