I appreciate your help.
I want to generate tf statically so I use static_transform_publisher
Attached file is generated using view_frames and following code is launch
file to generate tf.
Thank you in advance your help.

//////

<launch>
<node pkg="tf" type="static_transform_publisher" name="link1_broadcaster"
args="0 0 0 0 0 0 base_footprint base_link 100" />
<node pkg="tf" type="static_transform_publisher" name="link2_broadcaster"
args="0 0 1.0 0 0 0 base_link base_laser 100" />
<node pkg="tf" type="static_transform_publisher" name="link3_broadcaster"
args="0 0 0 0 0 0 odom base_footprint 100" />
</launch>

//////


2010/11/19 Eitan Marder-Eppstein <eitan@willowgarage.com>

> Eunchul Jeon,
>
> It seems likely that something is wrong in your tf tree when trying to
> transform points from the laser frame to the odometric frame. Can you use a
> tool like view_frames or tf_echo to find out what your tree looks like? In
> particular you should be able to run tf_echo laser odom successfully before
> expecting gmapping to work.
>
> Hope this helps,
>
> Eitan
>
> On Thu, Nov 18, 2010 at 5:01 AM, eunchul Jeon <jsharp83@gmail.com> wrote:
>
>> Hi, I'm Eunchul Jeon,
>>
>> I saw following warning when I run the rosrun gmapping slam_gmapping
>> scan:=base_scan
>>
>> [ WARN] [1290084259.016741027]: Message from [/hokuyo_node] has a
>> non-fully-qualified frame_id [laser]. Resolved locally to [/laser].  This is
>> will likely not work in multi-robot systems.  This message will only print
>> once.
>> [ WARN] [1290084273.997493021]: MessageFilter [target=/odom ]: Dropped
>> 100.00% of messages so far. Please turn the [ros.gmapping.message_notifier]
>> rosconsole logger to DEBUG for more information.
>>
>> and I ran the roswtf command, and saw following warning
>>
>> WARNING The following node subscriptions are unconnected:
>>  * /rviz_1290083985383805192:
>>    * /scan
>>    * /reset_time
>>  * /slam_gmapping:
>>    * /reset_time
>>  * /LaserListener:
>>    * /base_scan1
>>
>> Maybe I need to connect reset_time node but I can't find any information
>> about that.
>>
>> Thank you in advance your help.
>>
>> --
>> ================================================
>> Eunchul Jeon
>>
>> M.S. Student, Intelligent Systems and Neurobotics lab,
>> Dept. Computer Science, KAIST
>> Science town, Daejeon, 305-701, South Korea
>> TEL: 82 42 350 3580
>> E-mail: jsharp@kaist.ac.kr, jsharp83@gmail.com
>> Homepage: http://isnl.kaist.ac.kr
>> ================================================
>>
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>>
>>
>
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>


-- 
================================================
Eunchul Jeon

M.S. Student, Intelligent Systems and Neurobotics lab,
Dept. Computer Science, KAIST
Science town, Daejeon, 305-701, South Korea
TEL: 82 42 350 3580
E-mail: jsharp@kaist.ac.kr, jsharp83@gmail.com
Homepage: http://isnl.kaist.ac.kr
================================================