Missed transform between base_link and imu_link

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Hi, I received the following error message when trying the run the imu_compass ROS package to filter data provided through my UM6r2 IMU, which I ran using the UM6 ROS package. I currently get the following bug message:

Missed transform between base_link and imu_link

This arrives from the file: http://docs.ros.org/hydro/api/imu_com... . Specifically, this line fails: listener_.lookupTransform("base_link", data->header.frame_id, ros::Time(0), transform)

The IMU link is located here: data->header.frame_id.c_str())

May someone detail how to fix this? I'm not sure how base_link should be transformed to imu_link