multi_robot navigation

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Hi,I have problem on running the roslaunch navigation_stage move_base_multi_robot.launchof https://github.com/ros-planning/navig...
ros kinetic

the issuse is like this:  
[ WARN] [1588174911.499353540, 5.100000000]: Timed out waiting for transform from robot_0/base_link to robot_0/map to become available before running costmap, tf error: canTransform: target_frame robot_0/map does not exist.. canTransform returned after 0.1 timeout was 0.1.  
[ WARN] [1588174911.500381703, 5.100000000]: Timed out waiting for transform from robot_1/base_link to robot_1/map to become available before running costmap, tf error: canTransform: target_frame robot_1/map does not exist.. canTransform returned after 0.1 timeout was 0.1.

my launch file:

    <launch>
  <master auto="start"/>
  <param name="/use_sim_time" value="true"/>

  <node pkg="map_server" type="map_server" name="map_server" args="$(find navigation_stage)/stage_config/maps/willow-full.pgm 0.1" respawn="false" >
    <param name="frame_id" value="/map" />
  </node>

  <node pkg="stage_ros" type="stageros" name="stageros" args="$(optenv ROS_STAGE_GRAPHICS -g) $(find navigation_stage)/stage_config/worlds/willow-pr2-multi.world" respawn="false">
    <param name="base_watchdog_timeout" value="0.2"/>
  </node>

  <!-- BEGIN ROBOT 0 -->
  <group ns="robot_0">
    <param name="tf_prefix" value="robot_0" />

    <node pkg="move_base" type="move_base" respawn="false" name="move_base_node" output="screen">
      <remap from="map" to="/map" />
      <param name="controller_frequency" value="10.0" />
      <rosparam file="$(find navigation_stage)/move_base_config/costmap_common_params.yaml" command="load" ns="global_costmap" />
      <rosparam file="$(find navigation_stage)/move_base_config/costmap_common_params.yaml" command="load" ns="local_costmap" />
      <rosparam file="$(find navigation_stage)/move_base_config/local_costmap_params.yaml" command="load" />
      <rosparam file="$(find navigation_stage)/move_base_config/global_costmap_params.yaml" command="load" />
      <rosparam file="$(find navigation_stage)/move_base_config/base_local_planner_params.yaml" command="load" />
    </node>

    <node pkg="fake_localization" type="fake_localization" name="fake_localization" respawn="false" output="screen">
      <param name="odom_frame_id" value="robot_0/odom" />
      <param name="base_frame_id" value="robot_0/base_link" />
    </node>
  </group>
  <!-- END ROBOT 0 -->

  <!-- BEGIN ROBOT 1 -->
  <group ns="robot_1">
    <param name="tf_prefix" value="robot_1" />

    <node pkg="move_base" type="move_base" respawn="false" name="move_base_node" output="screen">
      <remap from="map" to="/map" />
      <param name="controller_frequency" value="10.0" />
      <rosparam file="$(find navigation_stage)/move_base_config/costmap_common_params.yaml" command="load" ns="global_costmap" />
      <rosparam file="$(find navigation_stage)/move_base_config/costmap_common_params.yaml" command="load" ns="local_costmap" />
      <rosparam file="$(find navigation_stage)/move_base_config/local_costmap_params.yaml" command="load" />
      <rosparam file="$(find navigation_stage)/move_base_config/global_costmap_params.yaml" command="load" />
      <rosparam file="$(find navigation_stage)/move_base_config/base_local_planner_params.yaml" command="load" />
    </node>

    <node pkg="fake_localization" type="fake_localization" name="fake_localization" respawn="false">
      <param name="odom_frame_id" value="robot_1/odom" />
      <param name="base_frame_id" value="robot_1/base_link" />
    </node>
  </group>
  <!-- END ROBOT 1 -->

  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find navigation_stage)/multi_robot.rviz" />

</launch>

hope somebody could give me some suggestions,thanks!
this is the tf tree