I followed the toutorial on using navigation package with ros1 ( https://automaticaddison.com/setting-up-the-ros-navigation-stack-for-a-simulated-robot/)

but it keeps giving me those errors no matter what I try to do ( could not find a connection between 'map' and 'base_link' because they aren't of the same tree ) as whenever I try to move the base in rviz it just doesn't move .