【ROS2】SLAM建图成功，但是导航失败，加载地图报错Timed out waiting for transform from base_link to map to become availabl

背景

SLAM建图成功，但是使用命令ros2 launch nav2_bringup bringup_launch.py map:=my_house.yaml use_sim_time:=false加载地图后，有报错打印

[component_container_isolated-1][INFO][1776087546.872633844][global_costmap.global_costmap]: Checking transform[component_container_isolated-1][INFO][1776087546.872643226][global_costmap.global_costmap]: Timed out waitingfortransform from base_link to map to become available, tf error: Invalid frame ID"map"passed to canTransform argument target_frame - frame does not exist[component_container_isolated-1][INFO][1776087547.372958503][global_costmap.global_costmap]: Timed out waitingfortransform from base_link to map to become available, tf error: Invalid frame ID"map"passed to canTransform argument target_frame - frame does not exist[component_container_isolated-1][ERROR][1776087547.790035814][amcl]: Couldn't transform from laser_link to base_footprint, even though the message notifier isinuse:("base_footprint"passed to lookupTransform argument target_frame does not exist.)