HECTOR SLAM + SICK LMS 200: Map not appearing

We are trying to implement Hector SLAM (without odom) using SICK LMS 200 laser range finder and we desperately need help. We are unable to display the map despite adding the /map topic in the Rviz displays. One error that we are persistently getting is "lookupTransform base_footprint to /camera_link timed out. Could not transform laser scan into base_frame." Here is the launch file we are using: mapping2.launch Here is the configuration file that we are using for the SICK LMS 200 LIDAR: port: /dev/ttyS2 baud: 38400 connect_delay: 35 scan_duration: 0.025 #no info about that in SICK-docu, but 0.025 is believable and looks good in rviz scan_cycle_time: 0.040 #SICK-docu says S300 scans every 40ms inverted: false scan_id: 7 frame_id: /camera_link scan_intervals: [[-1.5708, 1.5708]] #[rad] these intervals are included to the scan fields: '1': scale: 0.01 start_angle: -2.355 stop_angle: 2.355 # '2': # scale: 2.0 # start_angle: -11.0 #stop_angle: 12.0 Any help will be appreciated! Thank you!