RobotModel No Transform

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Hi, I am new to ROS and tried following the steps for Slam in Turtlebot3

At first, I ran RViz roslaunch turtlebot3_slam turtlebot3_slam.launch it shows me no map with turtlebot3 burger intact. However, after 1 day, I found out about the lidar is actually LDR-01 and changed it in the turtlebot3 .bashrc. Now the scanning works but the RobotModel and LaserScan has

• No transform from [base_footprint] to [map]
• No transform from [base_link] to [map]
• No transform from [base_scan] to [map]
• No transform from [caster_back_link] to [map]
• No transform from [imu_link] to [map]
• No transform from [wheel_left_link] to [map]
• No transform from [wheel_right_link] to [map]

Image is https://imgur.com/a/do8hunO

May I know how do I solve this issue?