TF_NO_FRAME_ID: Ignoring transform with child_frame_id

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[ERROR] [1316763642.701371303]: TF_NO_FRAME_ID: Ignoring transform with child_frame_id "/right_shoulder" from authority "/skeleton_tracker" because frame_id not set [ERROR] [1316763642.701422097]: TF_NO_FRAME_ID: Ignoring transform with child_frame_id "/right_elbow" from authority "/skeleton_tracker" because frame_id not set [ERROR] [1316763642.701475147]: TF_NO_FRAME_ID: Ignoring transform with child_frame_id "/right_hand" from authority "/skeleton_tracker" because frame_id not set

The robot model in the rviz has no errors. I've also changed the 'skel_to_joint_map' parameter in the tracker_params.yaml, to correspond with the joint names with my robot urdf model. I also changed the line in the 'self.cmd_joints.position[self.cmd_joints.name.index('myRobot_jointName')] = right_shoulder_lift_angle' in the tracker_joint_controller.py to my robot urdf's joint name. Is there anywhere else I need to change in the code? Thanks a lot!

In rviz, in TF display. I got status: warning "/openni_camera: No transform from [/openni_camera] to frame[/world] /openni_depth_frame: No transform from [/openni_depth_frame to frame[/world]" etc....