HectorSlam Not Working on Host Laptop

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I have a Raspi4(Remote) running ROS noetic connected to Laptop(host machine).

$rostopic list

Works fine. But when I run

$roslaunch hector_slam_launch tutorial.launch

I get this error in the host machine but works fine in the remote machine.

r WARN] [1681499760.828985830]: No transform between frames /map and scanmatcher_frame available after 20.010778 seconds of waiting. This warning only prints once.

Also in the remote, I am able to get /scan data from RPLidar but while running $rostopic echo /scan on the host machine it's silent. the host machine is able to pub and sub to all the other topics on the host machine

Note: I have already added this line to my mapping_default.launch file

node pkg="tf" type="static_transform_publisher" name="base_to_laser_broadcaster" args="0 0 0 0 0 0 base_link laser 100"

Any help on the matter would be greatly appreciated.