hector_slam not working when using gazebo

[roboticanyair]

when running lizi launch with hector slam using gazebo simulation, mapping doesn't work.
the launch file I used:

$ roslaunch lizi lizi.launch gazebo:=true lidar:=true hector_slam:=true move_base:=true

the error:
[ERROR] [1542616321.226998359, 0.658000000]: Transform failed during publishing of map_odom transform: "odom" passed to lookupTransform argument target_frame does not exist.
[ERROR] [1542616321.735442273, 1.159000000]: Transform failed during publishing of map_odom transform: Lookup would require extrapolation at time 0.250000000, but only time 0.150000000 is in the buffer, when looking up transform from frame [base_footprint] to frame [odom]