Failed to load nodelet '/camera/driver` of type `openni_camera/driver` to manager `camera_nodelet_manager'

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I see this error when doing "roslaunch openni_launch openni.launch" on turtlebot 2. I'm visualizing the output remotely on my workstation but always keep getting the the following errors on rviz. On Rviz, I get the following errors under RobotModel:

No transform from [camera_depth_frame] to [map] No transform from [camera_depth_optical_frame] to [map] No transform from [camera_link] to [map] No transform from [camera_rgb_frame] to [map] No transform from [camera_rgb_optical_frame] to [map]

I'm a newbie in ROS so followed this tutorial for implementing SLAM. Can anyone let me know how to fix this error, please?

Thank you.