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Please Shantnu, could you help me?

When I try to generate a map with my bag using hector_slam i get this message "[ INFO] [1493355975.573671943, 1492808791.921291071]:LookupTransform base_link to /camera_depth_frame timed out. Could not transform laser scan into base_frame." And I don't know if thats the reason why i have this problem "SearchDir angle change too large".

Here is the info of my bag

path: 20170421turtle1.bag

version: 2.0

duration: 4:21s (261s)

start: Apr 21 2017 18:06:31.10 (1492808791.10)

end: Apr 21 2017 18:10:52.82 (1492809052.82)

size: 1.3 GB

messages: 24699

compression: none [1254/1254 chunks]

types: sensor_msgs/Image [060021388200f6f0f447d0fcd9c64743]

sensor_msgs/LaserScan [90c7ef2dc6895d81024acba2ac42f369]

tf2_msgs/TFMessage [94810edda583a504dfda3829e70d7eec]

topics:
/camera/depth_registered/image 536 msgs : sensor_msgs/Image

/scan 7822 msgs : sensor_msgs/LaserScan

/tf 15624 msgs : tf2_msgs/TFMessage
(2 connections)

camera/rgb/image_color 717 msgs : sensor_msgs/Image

TF VIEW FRAMES

(https://drive.google.com/file/d/0BzXKYVn7g4oibElIT05VV0dmQmc/view)

I'm using a turtlebot with kinect