Transform from base_link to map not available move base/amcl

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Hey Guys i am trying to use the move base package inorder to drive my husky robot in ros Noetic. My cpp looks like the one in this link: http://wiki.ros.org/navigation/Tutori...! I created the map files (pgm & yaml) with an python script from a picture, because I am using a 3D map without obstales for my RRT*/Astar algorithm and gmapping was not working for 3d environments! I am using amcl for localization! My Launchfile lookes like that

 < ?xml version="1.0"?>
< launch >

 < !-- INCLUDE Gazebo + World -->
 < include file="$(find gazebo_ros)/launch/empty_world.launch">
< arg name="world_name" value="$(find Astar)/worlds/terrain_1.world"/>
<arg name="paused" value="false"/>
<arg name="use_sim_time" value="true"/>
<arg name="gui" value="true"/>
<arg name="headless" value="false"/>
<arg name="debug" value="false"/>
< /include>

<!-- Spawn Robot-->
<arg name="robot_namespace" default="/"/>

<arg name="x" default="3.0"/>
<arg name="y" default="3.0"/>
<arg name="z" default="4.6"/>
<arg name="yaw" default="0.0"/>

<!-- Optionally disable teleop control -->
<arg name="joystick" default="true" />

<group ns="$(arg robot_namespace)">

  <include file="$(find husky_control)/launch/control.launch">
    <!-- <arg name="multimaster" value="$(arg multimaster)"/> -->
  </include>
<!-- </group> -->
<!-- Additional nodes for specific accessories -->
<group if="$(optenv HUSKY_REALSENSE_ENABLED 0)">
  <include file="$(find husky_gazebo)/launch/realsense.launch" />
</group>

<!-- Spawn robot in gazebo -->
<node name="spawn_husky_model" pkg="gazebo_ros" type="spawn_model"
    args="-x $(arg x)
          -y $(arg y)
          -z $(arg z)
          -Y $(arg yaw)
          -unpause
          -urdf
          -param robot_description
          -model husky
          -robot_namespace $(arg robot_namespace)" />
 </group>

 <!-- Run the map server -->
 <node pkg="map_server" type="map_server" args="$(find Astar)/maps/square.yaml" respawn="true" name="map1" /> 

 <!-- INCLUDE AMCL LAUNCH -->
 <arg name="scan_topic" default="scan" />
<arg name="initial_pose_x" default="-6.5" />
<arg name="initial_pose_y" default="-2.5" />
<arg name="initial_pose_a" default="0.0" />

<arg name="use_map_topic" default="true"/>

<node pkg="amcl" type="amcl" name="amcl">
<param name="use_map_topic" value="$(arg use_map_topic)"/>
<!-- Publish scans from best pose at a max of 10 Hz -->
<param name="odom_model_type" value="diff"/>
<param name="odom_alpha5" value="0.1"/>
<param name="gui_publish_rate" value="10.0"/>
<param name="laser_max_beams" value="60"/>
<param name="laser_max_range" value="12.0"/>
<param name="min_particles" value="500"/>
<param name="max_particles" value="2000"/>
<param name="kld_err" value="0.05"/>
<param name="kld_z" value="0.99"/>
<param name="odom_alpha1" value="0.2"/>
<param name="odom_alpha2" value="0.2"/>
<!-- translation std dev, m -->
<param name="odom_alpha3" value="0.2"/>
<param name="odom_alpha4" value="0.2"/>
<param name="laser_z_hit" value="0.5"/>
<param name="laser_z_short" value="0.05"/>
<param name="laser_z_max" value="0.05"/>
<param name="laser_z_rand" value="0.5"/>
<param name="laser_sigma_hit" value="0 ...