I do not know how to fix this error, Hector_slam_mapping

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Hello, I am very new here and ROS, I would like to scan enviroment and create a stable map for robotics, now I can be scanned but I got error, (I can add pictures please you do not mind).

I am using YDLidar X4

This is my YDLidar X4. launch, I have modified some, I combined from many sources online.

<launch> <node name="ydlidar_lidar_publisher" pkg="ydlidar_ros_driver" type="ydlidar_ros_driver_node" output="screen" respawn="false" &gt;="" <param="" name="port" type="string" value="/dev/ydlidar"/> </node>

<node pkg="tf" type="static_transform_publisher" name="map_to_odom" 
args="0.0 0.0 0.0 0 0 0.0 /odom /map 40" />

<node pkg="tf" type="static_transform_publisher" name="odom_to_basefootprint" 
    args="0.0 0.0 0.0 0 0 0.0 /odom /base_footprint 40" />

<node pkg="tf" type="static_transform_publisher" name="base_footprint_to_base_link" 
    args="0.0 0.0 0.0 0 0 0.0 /base_footprint /base_link 40" />

<node pkg="tf" type="static_transform_publisher" name="base_link_to_laser" 
    args="0.2245 0.0 0.2 0.0 0.0 0.0 /base_link /laser_frame 40" />

<include file="$(find hector_mapping)/launch/mapping_default.launch" />
 <node pkg="rviz" type="rviz" name="rviz" args="-d $(find ydlidar_ros_driver)/launch/lidar.rviz" />

  <include file="$(find hector_geotiff_launch)/launch/geotiff_mapper.launch" />

</launch>

This is my mapping_default.launch

<launch> <arg name="tf_map_scanmatch_transform_frame_name" default="scanmatcher_frame"/> <arg name="base_frame" default="base_link"/> <arg name="odom_frame" default="base_link"/> <arg name="pub_map_odom_transform" default="true"/> <arg name="scan_subscriber_queue_size" default="5"/> <arg name="scan_topic" default="scan"/> <arg name="map_size" default="2048"/>

<node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">

<!-- Frame names -->
<param name="map_frame" value="map" />

<param name="base_frame" value="$(arg base_frame)" />
<param name="odom_frame" value="$(arg odom_frame)" />

<!-- Tf use -->
<param name="use_tf_scan_transformation" value="true"/>
<param name="use_tf_pose_start_estimate" value="false"/>
<param name="pub_map_odom_transform" value="$(arg pub_map_odom_transform)"/>

<!-- Map size / start point -->
<param name="map_resolution" value="0.050"/>
<param name="map_size" value="$(arg map_size)"/>
<param name="map_start_x" value="0.5"/>
<param name="map_start_y" value="0.5" />
<param name="map_multi_res_levels" value="2" />

<!-- Map update parameters -->
<param name="update_factor_free" value="0.4"/>
<param name="update_factor_occupied" value="0.9" />    
<param name="map_update_distance_thresh" value="0.4"/>
<param name="map_update_angle_thresh" value="0.06" />
<param name="laser_z_min_value" value = "-1.0" />
<param name="laser_z_max_value" value = "1.0" />

<!-- Advertising config --> 
<param name="advertise_map_service" value="true"/>

<param name="scan_subscriber_queue_size" value="$(arg scan_subscriber_queue_size)"/>
<param name="scan_topic" value="$(arg scan_topic)"/>

<!-- Debug parameters -->
<!--
  <param name="output_timing" value="false"/>
  <param name="pub_drawings" value="true"/>
  <param name="pub_debug_output" value="true"/>
-->
<param name="tf_map_scanmatch_transform_frame_name" value="$(arg tf_map_scanmatch_transform_frame_name)" />

</node>

</launch>

I am not sure why in a blocks of code, I cannot see a line of codes under (launch), on answers.ros.org

arg name="base_frame" default="base_link"/ and arg name="odom_frame" default="base_link"/

but once I run it, >>hector_mapping/base_frame: base_footprint ... (more)