Error in exercise 4.5

This is my_move_base.launch file. But I get the error Timed out waiting for transform from base_link to map to become available before running costmap, tf error: canTransform: target_frame map does not exist… canTransform returned after 0.101251 timeout was 0.1". Am I missing something?

<?xml version="1.0"?>
<param name="base_global_planner" value="$(arg base_global_planner)"/>
<param name="base_local_planner" value="$(arg base_local_planner)"/>  
<rosparam file="/home/user/catkin_ws/src/my_move_base_launcher/params/my_move_base_params.yaml" command="load"/>

<!-- observation sources located in costmap_common.yaml -->
<rosparam file="$(find husky_navigation)/config/costmap_common.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find husky_navigation)/config/costmap_common.yaml" command="load" ns="local_costmap" />

<!-- local costmap, needs size -->
<rosparam file="$(find husky_navigation)/config/costmap_local.yaml" command="load" ns="local_costmap" />
<param name="local_costmap/width" value="10.0"/>
<param name="local_costmap/height" value="10.0"/>

<!-- static global costmap, static map provides size -->
<rosparam file="$(find husky_navigation)/config/costmap_global_static.yaml" command="load" ns="global_costmap" unless="$(arg no_static_map)"/>

<!-- global costmap with laser, for odom_navigation_demo -->
<rosparam file="$(find husky_navigation)/config/costmap_global_laser.yaml" command="load" ns="global_costmap" if="$(arg no_static_map)"/>
<param name="global_costmap/width" value="100.0" if="$(arg no_static_map)"/>
<param name="global_costmap/height" value="100.0" if="$(arg no_static_map)"/>

Hi @epistimi4, seems like you are not launching any node here, your error says that you don’t have a frame named ‘map’ make sure you are running the map server.