ffmpeg -i joined.ts -flags -global_header -vcodec copy -acodec copy -map 0 -f segment -segment_time 2 -segment_list hls.m3u8 -segment_list_size 999999 -segment_format mpegts out%03d.ts
Here is the output of ffprobe on the file:

  libavutil      54.  7.100 / 54.  7.100
  libavcodec     56.  1.100 / 56.  1.100
  libavformat    56.  4.101 / 56.  4.101
  libavdevice    56.  0.100 / 56.  0.100
  libavfilter     5.  1.100 /  5.  1.100
  libavresample   2.  1.  0 /  2.  1.  0
  libswscale      3.  0.100 /  3.  0.100
  libswresample   1.  1.100 /  1.  1.100
  libpostproc    53.  0.100 / 53.  0.100
Input #0, mpegts, from 'joined.ts':
  Duration: 00:00:07.96, start: 1.441667, bitrate: 3899 kb/s
  Program 1
    Metadata:
      service_name    : Service01
      service_provider: FFmpeg
    Stream #0:0[0x100]: Video: h264 (High) ([27][0][0][0] / 0x001B), yuv420p, 1280x720, 24 fps, 24 tbr, 90k tbn, 180k tbc
    Stream #0:1[0x101](und): Audio: aac ([15][0][0][0] / 0x000F), 44100 Hz, stereo, f