chapter 6: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: Could not find a connection between 'map' and 'base_footprint' because they are not part of the same tree.Tf has two or more unconnected trees..

[haopo2005]

I am running roslaunch chapter6_tutorials move_base.launch on kinetic
And I got the following warning.
[ WARN] [1554044458.379278814, 15.084000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: Could not find a connection between 'map' and 'base_footprint' because they are not part of the same tree.Tf has two or more unconnected trees.. canTransform returned after 0.1 timeout was 0.1.

The robot_model of rviz has report the error "No transform from [base_footprint] to [map]"
But the error can be solved, adding the following line into the move_base.launch

However, the robot can't move now, just spin around even if I give it 2d nav goal.

[aadhibest]

Have you found any solutions for the issue? I am having a similar issue