error message when running "Quadrotor indoor SLAM demo"

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Hi,

When I tried to run the quadrotor demo here , I got the following error message:

[ERROR] [1332786035.950907356, 0.255000000]: Trajectory Server: Transform from /map to /base_link failed: Frame id /map does not exist! Frames (6): Frame /front_cam_link exists with parent /base_link.
Frame /base_link exists with parent NO_PARENT.
Frame /front_cam_optical_frame exists with parent /front_cam_link.
Frame /laser0_frame exists with parent /base_link.
Frame /sonar_link exists with parent /base_link.


[ERROR] [1332786036.383930902, 0.503000000]: Trajectory Server: Transform from /map to /base_link failed: Frame id /map does not exist! Frames (9): Frame /front_cam_link exists with parent /base_link.
Frame /base_link exists with parent /base_stabilized.
Frame /front_cam_optical_frame exists with parent /front_cam_link.
Frame /laser0_frame exists with parent /base_link.
Frame /sonar_link exists with parent /base_link.
Frame /base_footprint exists with parent /nav.
Frame /nav exists with parent NO_PARENT.
Frame /base_stabilized exists with parent /base_footprint.


[ INFO] [1332786036.541020052, 0.555000000]: lookupTransform base_footprint to /laser0_frame timed out. Could not transform laser scan into base_frame.
[rviz-9] process has died [pid 3011, exit code -11]. log files: /home/user/.ros/log/5e1b3464-7770-11e1-8b32-0023aea58509/rviz-9*.log


[ERROR] [1332786036.869724780, 0.750000000]: Trajectory Server: Transform from /map to /base_link failed: Frame id /map does not exist! Frames (9): Frame /front_cam_link exists with parent /base_link.
    Frame /base_link exists with parent /base_stabilized.
    Frame /front_cam_optical_frame exists with parent /front_cam_link.
    Frame /laser0_frame exists with parent /base_link.
    Frame /sonar_link exists with parent /base_link.
    Frame /base_footprint exists with parent /nav.
    Frame /nav exists with parent NO_PARENT.
    Frame /base_stabilized exists with parent /base_footprint.


    [ERROR] [1332786037.258785570, 1.004000000]: Trajectory Server: Transform from /map to /base_link failed: Frame id /map does not exist! Frames (9): Frame /front_cam_link exists with parent /base_link.
    Frame /base_link exists with parent /base_stabilized.
    Frame /front_cam_optical_frame exists with parent /front_cam_link.
    Frame /laser0_frame exists with parent /base_link.
    Frame /sonar_link exists with parent /base_link.
    Frame /base_footprint exists with parent /nav.
    Frame /nav exists with parent NO_PARENT.
    Frame /base_stabilized exists with parent /base_footprint.


    [ERROR] [1332786037.356971730, 1.055000000]: Transform failed during publishing of map_odom transform: Unable to lookup transform, cache is empty, when looking up transform from frame [/base_footprint] to frame [/nav]

Could anybody let me know how to resolve the error message ?

Thanks~