missing the frame "map" while running ros_stage

edit

Hi I am using stage to run SLAM simulations.

It is okay to mapping with Gmapping. But It doesn't work with Cartographer

when I run with cartographer by

roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=cartographer

the terminal outputs warning of

and

I checked the frame tree of both Gmapping and Cartographer, the cartographer missed the frame of map

I can run the carographer with real environment and with bag file. So I assume the launch file and lua file is correct.

any tips for that? Thank you!