Timed out waiting for transform from base_footprint to map to become available before running costmap

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As title,

When running move_base, this warning showed up and then process died.

details about the error message:

ROS_MASTER_URI=http://localhost:11311

process[map_server-1]: started with pid [40976]
process[cartographer-2]: started with pid [40977]
process[move_base-3]: started with pid [40978]
[ WARN] [1658282219.609009842, 358.055000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 358.054 timeout was 0.1.
[ INFO] [1658282220.096382994, 358.392000000]: global_costmap: Using plugin "static_layer"
[ INFO] [1658282220.112678754, 358.410000000]: Requesting the map...
[ INFO] [1658282220.360217662, 358.614000000]: Resizing costmap to 379 X 374 at 0.050000 m/pix
[ INFO] [1658282220.479364155, 358.713000000]: Received a 379 X 374 map at 0.050000 m/pix
[ INFO] [1658282220.485903135, 358.718000000]: global_costmap: Using plugin "obstacle_layer"
[ INFO] [1658282220.491388655, 358.721000000]:     Subscribed to Topics: scan
[ INFO] [1658282220.511445313, 358.738000000]: global_costmap: Using plugin "inflation_layer"
[ INFO] [1658282220.605130716, 358.812000000]: Waypoint planner has been initialized
[ INFO] [1658282220.618342603, 358.823000000]: local_costmap: Using plugin "obstacle_layer"
[ INFO] [1658282220.622837668, 358.823000000]:     Subscribed to Topics: scan
[ INFO] [1658282220.649877107, 358.845000000]: local_costmap: Using plugin "inflation_layer"
[ INFO] [1658282220.712694613, 358.890000000]: Created local_planner teb_local_planner/TebLocalPlannerROS
[ INFO] [1658282220.818135275, 358.960000000]: Footprint model 'line' (line_start: [0,0]m, line_end: [0.4,0]m) loaded for trajectory optimization.
[ INFO] [1658282220.818325887, 358.960000000]: Parallel planning in distinctive topologies enabled.
[ INFO] [1658282220.818387784, 358.960000000]: No costmap conversion plugin specified. All occupied costmap cells are treaten as point obstacles.
terminate called after throwing an instance of 'std::bad_alloc'
  what():  std::bad_alloc
[move_base-3] process has died [pid 40978, exit code -6, cmd /opt/ros/noetic/lib/move_base/move_base map:=map odom:=/odom_combined cmd_vel:=/navigation/cmd_vel __name:=move_base __log:=/home/usun/.ros/log/3659fbfe-07cf-11ed-b050-e1cb1d9ec4be/move_base-3.log].
log file: /home/usun/.ros/log/3659fbfe-07cf-11ed-b050-e1cb1d9ec4be/move_base-3*.log

This seems to be a tf error, but when I looked up the tf tree, all the frames connected, see image below.

I've tried to set transform_tolerance parameters of costmaps to 10.0, process still died.

Any suggestion will be highly appreciated. Thanks.