Invalid argument passed to lookupTransform argument source_frame in tf2 frame_ids cannot be empty

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I'm using the surface_perception package to get some table top data but I've been getting this error message

Invalid argument passed to lookupTransform argument source_frame in tf2 frame_ids cannot be empty

after running the surface segmentation for the multiple times and I can't seem to figure out what the problem is.

The error message appears when i launch this file:

<launch>
  <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" />
  <node pkg="tf2_web_republisher" type="tf2_web_republisher" name="tf2_web_republisher" launch-prefix="xterm -e gdb --args"/>
</launch>

i tried adding the launch-prefix="xterm -e gdb --args" to the tf2_web_republisher node but it just shows up the same error messages without indicating where its occuring.

An odd thing that happens is that the visualisation shows one of the axes to be enlarged as shown here

I know this is related to some empty frame_ids but i cant seem to figure out where they are. When I run

rostopic echo /tf2_web_republisher/result

then all frame ids are empty even when there's no error message.

any advice would be highly appreciated!