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Read the error very carefully:

tf error: canTransform: target_frame map does not exist

It says that the frame map does not exist. In your first launch file you set the frame_id parameter to map:

<node name="map_server" pkg="map_server" type="map_server" args="$(find robot_description)/maps/map.yaml" respawn="false" >
  <param name="frame_id" value="/map" /> <!-- Here -->
</node>

Try setting it to map (no /):

<node name="map_server" pkg="map_server" type="map_server" args="$(find robot_description)/maps/map.yaml" respawn="false" >
  <param name="frame_id" value="map" /> <!-- Here -->
</node>

Read the error very carefully:

tf error: canTransform: target_frame map does not exist

It says that the frame map does not exist. In your first launch file you set the frame_id parameter to map:/map:

<node name="map_server" pkg="map_server" type="map_server" args="$(find robot_description)/maps/map.yaml" respawn="false" >
  <param name="frame_id" value="/map" /> <!-- Here -->
</node>

Try setting it to map (no /):

<node name="map_server" pkg="map_server" type="map_server" args="$(find robot_description)/maps/map.yaml" respawn="false" >
  <param name="frame_id" value="map" /> <!-- Here -->
</node>