<launch>
 <param name="use_rep_117" type="bool" value="true" />
<node name="sicklms" pkg="sicktoolbox_wrapper" type="sicklms" output="screen">
 <param name="port" type="string" value="/dev/laser" />
 <param name="frame_id" type="string" value="/laser" />
 <param name="baud" type="int" value="500000" />
 <param name="resolution" type="double" value="1.0" />
</node>
<node name="laser_base_link_static_tf" pkg="tf" type="static_transform_publisher" args="0 0 0.27 0 0 0 base_link laser 100" />
</launch>