slam_toolbox Filter dropping message: frame 'laser'

edit

Hello everyone I am using ROS 2 Eloquent (Ubuntu 18.04) and am currently studying Nav2. I wanted to try the work of slam_toolbox together with the lidar of RPLIDAR S1. To do this, I run:

ros2 launch rplidar_ros2 view_rplidar_s1_launch.py

And then I launch:

ros2 launch slam_toolbox online_async_launch.py

I expected to get /map output, however I see an error:

[slam_toolbox-1] [INFO] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1646404216.077 for reason 'Unknown'

After reading the documentation and package description, I realized that slam_toolbox requires TF transforms from odom->base link. However, I don't quite understand how to get the right /tf, has anyone encountered this? I will be glad of any help!