no transform from map to base_link

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Hi friend.

I have a problem. I want to run Karto Mapping with my bag file. I used this bag file with gMapping without any problem.

Here is my transform:

When I choosed fixed_frame=base_link, got a map error:"no transform from map to base_link"

When I choosed fixed_frame=map, got a laserScan error:"No transform to fixed frame [map]. TF error: [Could not find a connection between 'map' and 'laser' because they are not part of the same tree.Tf has two or more unconnected trees.]"

What is the problem? How can I solve this? Thanks for your reply...