启动自主导航时读取不到地图信息，怎么解决

[planner_server-5] [INFO] [1713344173.924494513] [planner_server]: Activating
[planner_server-5] [INFO] [1713344173.924791490] [global_costmap.global_costmap]: Activating
[planner_server-5] [INFO] [1713344173.924927980] [global_costmap.global_costmap]: Checking transform
[planner_server-5] [INFO] [1713344173.925210708] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[planner_server-5] [INFO] [1713344174.425198887] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[planner_server-5] [INFO] [1713344174.925148886] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[planner_server-5] [INFO] [1713344175.425146936] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[amcl-2] [WARN] [1713344175.517625894] [amcl]: ACML cannot publish a pose or update the transform. Please set the initial pose...
[planner_server-5] [INFO] [1713344175.925154845] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[planner_server-5] [INFO] [1713344176.425149810] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[planner_server-5] [INFO] [1713344176.925162132] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist