How to make a map with Hokuyo Lidar and Hector SLAM

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I have Hokuyo Lidar T301C and connect to computer. I am using 14.04 indigo

If I use /dev/ttyACM0 , cannot access /dev/ttyACM0: No such file or directory

For this reason use connetct rosrun urg_node urg_node _ip_address:=192.168.0.10 )

I can get laser scan on Rviz.

when i was roslaunch hector_slam_launch tutorial.launch

i can not get any data with Rviz.

I get " [1566371851.208718770]: lookupTransform base_footprint to laser timed out. Could not transform laser scan into base_frame." error

I did some search. Most probably i have to change some code? But which code ? i can not find detailed info ?

Thank you for your help.