Auto.universe-Tutorials-Planning Simulation: failed to get transform from map to base_link: Could not find a connection between 'map' and 'base_link'

[Hikigaya-Yukina]

When I run the demo as tutorials told, the rviz did not appear and the ROS INFO had some warns like this:

[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/autoware_api/external/version' in container '/autoware_api/external/autoware_iv_adaptor'
[component_container_mt-38] [WARN] [1725346652.176893110] [autoware_api.external.vehicle_status]: The velocity topic is not subscribed
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner' in container '/planning/scenario_planning/lane_driving/behavior_planning/behavior_planning_container'
[emergency_handler-16] [INFO] [1725346655.747648658] [system.emergency_handler]: waiting for hazard_status_stamped msg...
[motion_velocity_smoother-25] [WARN] [1725346655.768799914] [planning.scenario_planning.motion_velocity_smoother]: failed to get transform from map to base_link: Could not find a connection between 'map' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[motion_velocity_smoother-25] [INFO] [1725346655.768890185] [planning.scenario_planning.motion_velocity_smoother]: waiting for self pose...
[system_error_monitor-15] [INFO] [1725346656.342417658] [system.system_error_monitor]: waiting for current_gate_mode msg...
[component_container_mt-28] [WARN] [1725346656.433246219] [planning.scenario_planning.lane_driving.motion_planning.obstacle_avoidance_planner]: failed to get transform from map to base_link: Could not find a connection between 'map' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[component_container_mt-28] [INFO] [1725346656.433323300] [planning.scenario_planning.lane_driving.motion_planning.obstacle_avoidance_planner]: waiting for self pose...
[component_container-29] [INFO] [1725346656.510405152] [planning.scenario_planning.parking.costmap_generator]: waiting for initial pose...
[component_container-31] [WARN] [1725346656.777411153] [control.trajectory_follower.lane_departure_checker_node]: failed to get transform from map to base_link: Could not find a connection between 'map' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[component_container-31] [INFO] [1725346656.777643965] [control.trajectory_follower.lane_departure_checker_node]: waiting for self pose...
[component_container_mt-26] [INFO] [1725346656.781479616] [planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner]: waiting for scenario_topic
[component_container_mt-38] [WARN] [1725346657.177011532] [autoware_api.external.vehicle_status]: The velocity topic is not subscribed
[motion_velocity_smoother-25] [WARN] [1725346660.769026476] [planning.scenario_planning.motion_velocity_smoother]: failed to get transform from map to base_link: Could not find a connection between 'map' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[motion_velocity_smoother-25] [INFO] [1725346660.769073816] [planning.scenario_planning.motion_velocity_smoother]: waiting for self pose...
[emergency_handler-16] [INFO] [1725346660.847651114] [system.emergency_handler]: waiting for hazard_status_stamped msg...
[system_error_monitor-15] [INFO] [1725346661.342488603] [system.system_error_monitor]: waiting for current_gate_mode msg...
[component_container_mt-28] [WARN] [1725346661.433590751] [planning.scenario_planning.lane_driving.motion_planning.obstacle_avoidance_planner]: failed to get transform from map to base_link: Could not find a connection between 'map' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[component_container_mt-28] [INFO] [1725346661.433782532] [planning.scenario_planning.lane_driving.motion_planning.obstacle_avoidance_planner]: waiting for self pose...
[component_container-29] [INFO] [1725346661.510732622] [planning.scenario_planning.parking.costmap_generator]: waiting for initial pose...
[component_container-31] [WARN] [1725346661.777868333] [control.trajectory_follower.lane_departure_checker_node]: failed to get transform from map to base_link: Could not find a connection between 'map' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[component_container-31] [INFO] [1725346661.778060149] [control.trajectory_follower.lane_departure_checker_node]: waiting for self pose...
[component_container_mt-26] [INFO] [1725346661.881418511] [planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner]: waiting for scenario_topic
[component_container_mt-38] [WARN] [1725346662.377022934] [autoware_api.external.vehicle_status]: The velocity topic is not subscribed

And the rqt tree showed that:

The map and base_link were not connected but I do not know how to solve such a problem.
And no other discussions have such problems in the tutorials.

Configuration:
Ubuntu 20.04
Galactic
Source Code install

[maxime-clem]

Configuration:
Ubuntu 20.04
Galactic
Source Code install

The current version of Autoware do not run with Galactic (as far as I know). Can you specify which autoware branch you are using for your setup ?