Extrinsic calibration of 2D laser scanner

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Hello! I have two Sick LMS100 laser scanners on a mobile platform, each of which covers 270 degrees. I put them in diagonal direction on the robot to cover 360 degrees. In order to properly combine the data from the two laser scanners, my question is, is there implementation within ROS, which can decide the relative positions of the two laser scanners to each other? Currently, I can only manually tune the positional parameters to combine them. Further, how do you usually measure the extrinsic parameters of a laser scanner to the robot center, is there software tool like for the camera doing this work?

Thanks a lot for reading, and I will appreciate any feedback or suggestion from you!