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hector_slam tf error

Hi, does anybody try to run hector_slam with only laser scanner? The type of laser scanner is URG-04LX-UG01. I tried to run mapping_box.launch & geotiff_mapper.launch and rviz.
However, I always got the error says waitForTransform timed out...
Anyone knows how to deal with the transform problem?
Thanks a lot! I am really fresh bird with it.