Fixed Frame [map] does not exist

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hi . i using solidworks to get urdf file .

in rviz i have this error : Fixed Frame [map] does not exist

how can i fix that error ????

it is my launch file :

 <launch>
  <arg name="model" />
  <param name="robot_description" textfile="$(find wrist)/urdf/wrist.urdf" />
  <param name="use_gui" value="true" />
  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
 <node name="rviz" pkg="rviz" type="rviz" args="-d $(find wrist)/urdf.rviz" required="true" />
</launch>

it is my urdf file :

    <?xml version="1.0"?>
<robot name="wrist">
  <link name="base_link">
    <inertial>
      <origin xyz="-0.0155222222222222 0.0506514619883041 -0.0711837607475986" rpy="0 0 0" />
      <mass value="0.161357633901786" />
      <inertia ixx="0" ixy="0" ixz="0" iyy="0"  iyz="0" izz="0" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://wrist/meshes/base_link.stl" />
      </geometry>
      <material  name="">
        <color  rgba="0.941176470588235 0.674509803921569 0.117647058823529 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://wrist/meshes/base_link.stl" />
      </geometry>
    </collision>
  </link>
  <link name="m2_1">
    <inertial>
      <origin xyz="1.73472347597681E-18 3.46944695195361E-18 -0.0748894348894349" rpy="0 0 0" />
      <mass value="0.0767176926006627" />
      <inertia  ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh  filename="package://wrist/meshes/m2_1.stl" />
      </geometry>
      <material  name="">
        <color rgba="0.941176470588235 0.674509803921569 0.117647058823529 1" />
      </material>
    </visual>
    <collision>
      <origin  xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://wrist/meshes/m2_1.stl" />
      </geometry>
    </collision>
  </link>
  <joint name="m2_1"  type="continuous">
    <origin xyz="-0.0155222222222222 0.0225000000000004 0.0416514619883041" rpy="3.14159265358979 0 0" />
    <parent link="base_link" />
    <child link="m2_1" />
    <axis xyz="0 0 -1" />
  </joint>
  <link name="4_1">
    <inertial>
      <origin xyz="5.20417042793042E-18 1.38777878078145E-17 0.0075" rpy="0 0 0" />
      <mass value="0.192949779317265" />
      <inertia ixx="0" ixy="0" ixz="0"  iyy="0" iyz="0"  izz="0" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://wrist/meshes/4_1.stl" />
      </geometry>
      <material name="">
        <color  rgba="0.941176470588235 0.674509803921569 0.117647058823529 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh  filename="package://wrist/meshes/4_1.stl" />
      </geometry>
    </collision>
  </link>
  <joint name="4_1" type="fixed">
    <origin xyz="-0.0155222222222222 0.00750000000000036 0.0506514619883041" rpy="1.5707963267949 0 0" />
    <parent link="base_link" />
    <child link="4_1" />
    <axis xyz="0 0 0" />
  </joint>
  <link name="m1_1">
    <inertial>
      <origin xyz="6.93889390390723E-18 0 0.0444256539427829" rpy="0 0 0" />
      <mass value="0.0916588444916701" />
      <inertia ixx="0"  ixy="0" ixz="0" iyy="0" iyz="0"  izz="0" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://wrist/meshes/m1_1.stl" />
      </geometry>
      <material name="">
        <color rgba="0.941176470588235 0.674509803921569 0.117647058823529 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://wrist/meshes/m1_1.stl" />
      </geometry>
    </collision>
  </link>
  <joint name ...