Error in amcl node while configuring navigation stack simulation

I have configured the navigation stack to a mobile robot model. When i tried to launch the below file got a following error. I am sure the error is with amcl node because i checked other nodes, launch file works fine without the amcl node. Error: > [ERROR] [1454003234.548580927,> 485.467000000]: Couldn't transform from hokuyo_link to base_link, even> though the message notifier is in use I have verified the rqt_graph and here is it for ref