chapter 6: Waiting on transform from /base_footprint to /map to become available before running costmap, tf error: about effective_robotics_programming_with_ros HOT 3 OPEN

I have the exactly same issue. Help please.Could you tell me how to solve it？Thank you!
@stevealbertwong

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I have fixed the warnning of [ WARN] [1523448910.476452149]: No laser scan received (and thus no pose updates have been published) for 1523448910.476290 seconds. Verify that data is being published on the /scan topic.
[ WARN] [1523448913.988248548]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist. canTransform: source_frame base_footprint does not exist.. canTransform returned after 0.101114 timeout was 0.1.
by adding to launch file
static_transform_publisher and mapped map to odom, odom to base_footprint
but i still have the issue when i give it a direction/goal, it does not move.
i wonder its because of my config if local planner or other files ?

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I have the exactly same issue. Help please.

In addition, when I run "roslaunch chapter6_tutorials chapter6_configuration_gazebo.launch", I got something like this, rather than the contents shown in the book:

For instance, my model did not have "Robot Footprint", "Global Panner", etc.

I guess that was caused by using different "chapter6_configuration_gazebo.launch" file.

Can authors update the files for chapter6? Thank you.

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