ERROR：No tf data. Actual error: Fixed Frame [map] does not exist 解决办法

Problem scenario:

When using rviz, a warning appears and the map cannot be loaded, as shown below:

Cause Analysis:

The main reason why the map cannot be loaded is that there is no world coordinate system in the tf tree. The solution is to let rviz know where the world coordinate system is

Solution:

// ××× 可以用world、laser、map或my_frame替换
rosrun tf static_transform_publisher 0.0 0.0 0.0 0.0 0.0 0.0 map ××× 100 

Reference: https://blog.csdn.net/weixin_54729896/article/details/128983855