Hector_SLAM on BeagleBone error

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I have hector_slam running on the BeagleBone. IMU_UM6 and URG-04X both launch and stream data.

I have not had success getting hokuyo_node functional so I am using the newer urg_node and changed the launch file for hector_slam to launch the urg_node rather than the hokuyo_node.

I do not have rviz running on the BeagleBone as there is no display attached to the BeagleBone.

When I launch hector_slam I get the following error:

[ERROR] [1370640753.966993122]: Trajectory Server: Transform from /map to /base_stabilized failed: Frame id /map does not exist! Frames (4):
Frame /laser exists with parent /base_link.
Frame /base_link exists with parent /base_stabilized.
Frame /base_stabilized exists with parent NO_PARENT.

Is this because rviz is not running and loading the map, or do I have a different issue?