Costmap2DROS transform timeout.Could not get robot pose, cancelling reconfiguration

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Hi , I am doing an experiment about hector slam navigation.

for the picture as below,the small tf mark is where it start and the big one is the last place .

here is my launch file (click me to github)

But the system crash when the laser scanner move every time about 10 seconds.

And shows Costmap2DROS transform timeout and can't get robot pose.

(update stauts 2016.02.27)

I guess this warning is because of the setting I modify.

I modify "hector_navigation/hector_exploration_node/config/costmap.yaml",change " transform_tolerance: 2 " to " transform_tolerance: 10".

How could I solve it? Thanks for anyone response.><

Here are the error message.

1000, plan_in_unknown: 1, use_inflated_obstacle: 1, p_goal_angle_penalty_:50 , min_frontier_size: 5, p_dist_for_goal_reached_: 0.250000, same_frontier: 0.250000

tolerance: 10.0000