Writing A Global Path Planner As Plugin in ROS in Hector quadrotor

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Hello, I decided to do the tutorial Writing As A Global Path Planner Plugin in ROS . but to run the plugin I do not use turtlebot, instead I want to do the test with hector quadrotor using gazebo. when I run roslaunch global_planner test_global_planner.launch I get the following error

[ INFO] [1460671413.935780713, 108.883000000]: Using plugin "static_layer"

[ INFO] [1460671414.361550189, 109.173000000]: Requesting the map...

[ INFO] [1460671414.685686497, 109.396000000]: Resizing costmap to 584 X 526 at 0.100000 m/pix

[ INFO] [1460671414.805726823, 109.496000000]: Received a 584 X 526 map at 0.100000 m/pix

[ INFO] [1460671414.825754159, 109.507000000]: Using plugin "obstacle_layer"

[ INFO] [1460671414.848215673, 109.519000000]: Subscribed to Topics: scan bump

[ INFO] [1460671415.234670166, 109.789000000]: Using plugin "inflation_layer"

[ WARN] [1460671421.622039999, 115.474000000]: Timed out waiting for transform from base_link to odom to become available before running costmap, tf error: . canTransform returned after 0.106 timeout was 0.1.

Thanks :)