bool LaserScanMatcher::getBaseToLaserTf (const std::string& frame_id)
{
  ros::Time t = ros::Time::now();

  tf::StampedTransform base_to_laser_tf;
  try
  {
    tf_listener_.waitForTransform(
      base_frame_, frame_id, t, ros::Duration(1.0));
    tf_listener_.lookupTransform (
      base_frame_, frame_id, t, base_to_laser_tf);
  }
  catch (tf::TransformException ex)
  {
    ROS_WARN("Could not get initial transform from base to laser frame, %s", ex.what());
    return false;
  }
  base_to_laser_ = base_to_laser_tf;
  laser_to_base_ = base_to_laser_.inverse();

  return true;
}