ar_sys camera problem [closed]

edit

hi. i am beginner. i wanna run ar_sys package but i have a few problems.

i have usb cam or can i do that with my laptop's camera ?

Firstly :

 "Fixed Frame No tf data. Actual error: Fixed Frame [world] does not exist"

probably my camera is not define to ROS. How can i do that ?

Secondly : i try to run this line :

rosrun tf static_transform_publisher 0.0 0.0 0.0 0.0 0.0 0.0 map my_frame 100

But i have this error:

Fixed Frame [world] does not exist

Thirdly : Have i to use special camera for ar_sys package ? (like we have to use lidar scanner in hector slam.)