[Cartographer]Fixed Frame [map] does not exist

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General discription: Cartographer succeed to publish topic /map and submaps are shown in rviz, however, the Fixed Frame [map] does not exist, and the tf transform map->odom doesn't exit either.I use robot_localization to publish /odom. I have published this issue in github, please see details in the link below.

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Thank you for any suggestions！