Hector exploration costmap get robot pose error

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Hi, i connect an rplidar to ubuntu 16.04 with ros-kinetic. I'm using hector_navigation to get path planning. I use roslaunch rplidar_ros view_slam.launch and roslaunch hector_exploration_node exploration_planner.launch but exploration planner gives could not get robor pose error. I only have rplidar connect no additional sensors or robot.

[ WARN] [1527263734.508645133]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1527263735.608135645]: Costmap2DROS transform timeout. Current time: 1527263735.6081, global_pose stamp: 1527263735.3022, tolerance: 0.3000