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1.launch file should be added to r2d2/launch directory. But this is not relevant to the problem.

2.Because you didn't depend this package on "tf".You can solve this problem by adding the dependency to manifest.xml.

For example, your manifest.xml should looks like

<package>
  <description brief="r2d2_try">

     r2d2_try

  </description>
  <author>ROSfuerte</author>
  <license>BSD</license>
  <review status="unreviewed" notes=""/>
  <url>http://ros.org/wiki/r2d2_try</url>
  <depend package="roscpp"/>
  <depend package="rospy"/>
  <depend package="std_msgs"/>
  <depend package="tf"/>

</package>