diff --git a/src/nav2_turtlebot_simulator/launch/simulator.launch.py b/src/nav2_turtlebot_simulator/launch/simulator.launch.py
index 3b7632e..1916b28 100644
--- a/src/nav2_turtlebot_simulator/launch/simulator.launch.py
+++ b/src/nav2_turtlebot_simulator/launch/simulator.launch.py
@@ -126,6 +126,26 @@ def generate_launch_description():
         DeclareLaunchArgument('x_pose', default_value='-2.0'),
         DeclareLaunchArgument('y_pose', default_value='-0.5'),
         OpaqueFunction(function=launch_gazebo),
+        Node(
+            package='tf2_ros',
+            executable='static_transform_publisher',
+            name='turtlebot3_base_link_tf',
+            arguments=[
+                '--x', '0', '--y', '0', '--z', '0.01',
+                '--roll', '0', '--pitch', '0', '--yaw', '0',
+                '--frame-id', 'base_footprint', '--child-frame-id', 'base_link',
+            ],
+        ),
+        Node(
+            package='tf2_ros',
+            executable='static_transform_publisher',
+            name='turtlebot3_laser_tf',
+            arguments=[
+                '--x', '-0.032', '--y', '0', '--z', '0.171',
+                '--roll', '0', '--pitch', '0', '--yaw', '0',
+                '--frame-id', 'base_link', '--child-frame-id', 'base_scan',
+            ],
+        ),
         IncludeLaunchDescription(
             PythonLaunchDescriptionSource(os.path.join(gazebo_ros_dir, 'launch', 'gzclient.launch.py')),
             condition=IfCondition(LaunchConfiguration('gui')),