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Your TF tree is wrong, map has to be tf-ed to odom and odom to base_link like in this picture.

map -> odom -> base_link -> laser_scanner (camera_link in the picture below, it is a s300 aswell)

image description

The TF from map to odom is normally done by hector_mapping, when you did your map you have to do this transform by your own or use amcl which tf's it.

Hope I could help

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