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It seems that you remapped your topics in the wrong order. The last line should be:

 <remap from="cloud_in" to="/assembled_cloud" />

(assuming that the topic name of your assembled cloud is "assembled_cloud" in a global namespace, otherwise change it accordingly).

This will work as long as your robot does not move, i.e., it builds a local map with the laser scans in the base_link frame.

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