transformation between a landmark and robot?

edit

I am trying to get the robots position by detecting a landmark with a laser. I want to do a localization through laser markers to have another option beside odometry and laser scan matching. The coordinates of the landmark are known in my base_laser_link frame and in my global map frame.

I tried to manually calculate the transformations, but it only works on paper ;)
When I try it in ROS, I have a correct position only for a few specific orientation angles. When I turn too much, the calculated robot position drifts away.

Could I place a static tf on the map for a landmark? map -> landmark So ROS does the transformation? Or does this approach take my position estimate into account? So I would need a transformation from landmark -> base_laser_link and not landmark -> map -> base_link -> base_laser_link