Problem getting real-time_map using hector_slam!!!

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'Hello all,

I am using Xbox360, Ros Kinetic, Ubuntu 16.04LTS

I am new to ROS. I want to map an unknown enviroment using kinect. For this I am using freenect and gmapping. I have done these steps:

1. roslaunch freenect_launch freenect.launch
2. rosrun pointcloud_to_laserscan pointcloud_to_laserscan_node cloud_in:=/camera/depth/points
3. rosbag record -O mybag /scan
4. rostopic echo /scan /////////i can see scan data is available here
5. rqt_graph

here is my MY RQT_GRAPH and here is MY FRAMES.PDF

This is all great.

But the problem is getting data from the bag file

1. roscore
2. rosparam set use_sim_time true
3. roslaunch hector_slam_launch tutorial.launch scan:=/base_scan
4. rosbag play --clock mybag.bag
5. rqt_graph

here is my MY RQT_GRAPH and here is MY FRAMES.PDF

I can't see any error in RViz. But I can't see the map either. The terminal where I launch hector_slam shows the error that

[ WARN] [1515990267.492285826]: No transform between frames /map and scanmatcher_frame available after 20.002855 seconds of waiting. This warning only prints once.
[ INFO] [1515990270.173023564]: lookupTransform base_footprint to camera_depth_optical_frame timed out. Could not transform laser scan into base_frame.

1. rostopic pub syscommand std_msgs/String "savegeotiff"

but the terminal in which tutorial.launch is running stated that

[ INFO] [1515995399.174200553]: HectorSM sysMsgCallback, msg contents: savegeotiff 
[ INFO] [1515995399.174327483]: HectorSM Map service called
[ INFO] [1515995399.194847114]: GeotiffNode: Map service called successfully
[ INFO] [1515995399.222169236]: Cannot determine map extends!
[ INFO] [1515995399.222222911]: Couldn't set map transform

I HAVE ALSO RUN rosrun tf view_frames AND I NOTICED THAT world IS NOT CONNECTED TO base_frame

can anyone help me with this

please do post a comment if any other specifications required.

Thank you in advance.....