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Yes, the problem is related to tf not being available. To get an overview of how tf works you can have a look at the following links:

TF tutorials

Hector SLAM setup tutorial

The easiest option to make it work is manually starting a tf publisher that publishes the needed transform from the base_link that you want to have localized to the laser scanner frame. This can be done by adding the following to a launch file:

  <node pkg="tf" type="static_transform_publisher" name="base_to_laser_broadcaster" args="0 0 0 0 0 0 base_link laser 50" />

Yes, the problem is related to tf not being available. To get an overview of how tf works you can have a look at the following links:

TF tutorials

Hector SLAM setup tutorial

The easiest option to make it work is manually starting a tf publisher that publishes the needed transform from the base_link that you want to have localized to the laser scanner frame. This can be done by adding the following to a launch file:

  <node pkg="tf" type="static_transform_publisher" name="base_to_laser_broadcaster" args="0 0 0 0 0 0 base_link laser 50" />

  <param name="pub_map_odom_transform" value="true"/>
  <param name="map_frame" value="map" />
  <param name="base_frame" value="base_link" />
  <param name="odom_frame" value="base_link" />