error while building 2d map

hi i am trying to build 2d map i go just part of the map and git in the axis error that say in rviz: Transform For frame [base_link]: No transform to fixed frame [map]. TF error: [Could not find a connection between 'map' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.] ithe odometery data are publishing and the kinect work fine i don't know where the problem is i will include all the information that can help: i am using indigo first i use this launch file and and it must run good base controller is running without any problem and publish the odom data the tf tree and rviz [Screenshot from 2016-06-18 19:51:20.png](/upfiles/14662687908962767.png) [Screenshot from 2016-06-18 19:52:30.png](/upfiles/1466268808500082.png) i hope this can help. note: you can find base_controller in this package https://github.com/sungjik/my_personal_robotic_companion I use it as a reference with some difference but the tf publish is the same . I am launch robot config and slam.launch from this package I hope this information will help.