Could not find a connection between '/map' and '/base_link'

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Hi,

I want to calculate robot's current position with respect to the map. Autonomous navigation of ROS works fine.

Following is my "rosrun tf view_frames"

tf tree

I have tried following two commands which gives robot position?? And it works correctly

rosrun tf tf_echo /map /base_link

rosrun tf tf_echo /odom /base_footprint

Code snippet used the listen the transform is given below::::::I have used this code inside a nodelet's init() method..Code compiled successfully. transform and listener are made public class members.

 while (nh.ok())
  {
    //tf::StampedTransform transform;
    try
    {
        //ROS_INFO("Attempting to read pose...");
        listener.lookupTransform("/map","/base_link",ros::Time(0), transform);
        //listener.lookupTransform("/odom","/base_footprint",ros::Time(0), transform); //SECOND STATEMENT//

        ROS_INFO("Got a transform! x = %f, y = %f",transform.getOrigin().x(),transform.getOrigin().y());
    }
    catch (tf::TransformException ex)
    {
        ROS_ERROR("Nope! %s", ex.what());
    } 


    //rate.sleep();

  }

ERROR lookupTransform.jpg

Even if I try "SECOND STATEMENT"(see code snippet), we get following error.

[ERROR] [1399027108.366171508]: Nope! Could not find a connection between '/odom' and '/base_footprint' because they are not part of the same tree.Tf has two or more unconnected trees.
[ERROR] [1399027108.366232448]: Nope! Could not find a connection between '/odom' and '/base_footprint' because they are not part of the same tree.Tf has two or more unconnected trees.

Thank you for any kind of help...................

rxconsole OUTPUT transform.jpg and "rosrun tf tf_echo /map /base_link" output map to base_link.jpg