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Not Seeing Robot in rviz

I'm working through the URDF Tutorial and one of the first things to do is to load a example file, 01-myfirst.urdf, into rviz for visualization. So I load the example file as is, run the rviz launch file, rviz opens up, and the rviz grid is empty -- no robot!

I do get a warning message in rviz that says:

No tf data. Actual error: Fixed Frame [map] does not exist

What does this mean? What's missing? Why can't I see the robot?

P.S. I'm running Hydro.