I'm using CAT simulation and I added sonars to the jeep in the simulation using hector gazebo but I keep getting an error in rviz.

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I keep getting the error " Transform [sender=unknown publisher]For frame [/sonar link]: Frame [/sonar link] does not exist "

I tried all the solutions provided in the ROS answers but still I face this issue.

Changes that I made to the simulation files:

1. Added sonar in the .xacro file, .gazebo file.

2.Also added the static transform publisher in the .launch file as <node pkg="tf" type="static_transform_publisher" name="sonar1_link_tf_$(arg robot_name)" args="0 0 0 0 0 0 $(arg robot_name)/base_link $(arg robot_name)/sonar1_link 5"/>

3.I ran the rosrun --debug rviz rviz and tried publishing the link.

4.I made changes to the gazebo_ros_sonar.cpp in the hector gazebo package.

But I still getting the error while running rviz and adding the sonar in it.

Please, suggest me an alternative possible solutions. ?