Hector mapping turtlebot [closed]

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I am trying to use hector mapping on turtlebot in ROS hydro. I choose hector_quadrotor_demo/launch/indoor_slam_gazebo.launch as a base file. Then I created following launch file.

<launch>
    <arg name="scan_topic" default="scan"/>

    <include file="$(find turtlebot_gazebo)/launch/turtlebot_empty_world.launch"/>

    <include file="$(find hector_mapping)/launch/mapping_default.launch">
        <param name="pub_map_odom_transform" value="true"/>
        <param name="map_frame" value="map" />
        <param name="base_frame" value="base_frame" />
        <param name="odom_frame" value="odom" />
    </include>

    <include file="$(find hector_geotiff)/launch/geotiff_mapper.launch">
        <arg name="trajectory_publish_rate" value="4"/>
    </include>

    <include file="$(find turtlebot_rviz_launchers)/launch/view_robot.launch"/>
</launch>

When I run this launch file, It didn't output any error. When I try to add Map to rviz it gives No transform from [map] to [base_footprint] error. I cheated from SettingUpForYourRobot in section Use in place of gmapping. What should I change to make it working ?