Local planner not working in ROS noetic - Ubuntu 20.04 LTS

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I am navigating my custom mobile robot in GAZEBO simulation (ROS Noetic). I have generated map , used AMCL for localization, then used global and local planner for path planning.

My issue is while running the global and local planner i can do global path planning and the robot moves(from initial to final point), but the local planner doesn't generate its cost map and doesn't avoid obstacles (colides with obstacles not present while generating map).

It shows a single warning " Timed out waiting for transform from base_link to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 96.134 timeout was 0.1."

I hope think this warning might prevent local planner and costmap to work. I have tried a lot of methods but couldn't solve it. Please help as soon as posible. It would be helpful for my final year project.

Below is the video for navigation and parameters used. Since the parameters file is long i have attached a text file .

Link of navigation : link text

maap_amcl_kob4.launch:

<launch>

  <!-- Map Server Arguments -->
  <arg name="map_file" default="$(find kob_4_description)/maps/3rd_t3_home/3rd_tb3_home.yaml"/>
  <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />

  <!-- Arguments -->
  <arg name="scan_topic"     default="scan"/>
  <arg name="initial_pose_x" default="0.0"/>
  <arg name="initial_pose_y" default="0.0"/>
  <arg name="initial_pose_a" default="0.0"/>

  <!-- AMCL -->
  <include file = "$(find kob_4_description)/launch/kob_amcl.launch" />

</launch>

kob_amcl.launch

<launch>
<node pkg="amcl" type="amcl" name="amcl" output="screen">
  <!-- Publish scans from best pose at a max of 10 Hz -->
  <param name="odom_model_type" value="diff"/>
  <param name="odom_alpha5" value="0.1"/>
  <param name="gui_publish_rate" value="10.0"/>
  <param name="laser_max_beams" value="30"/>
  <param name="min_particles" value="500"/>
  <param name="max_particles" value="5000"/>
  <param name="kld_err" value="0.05"/>
  <param name="kld_z" value="0.99"/>
  <param name="odom_alpha1" value="0.2"/>
  <param name="odom_alpha2" value="0.2"/>
  <!-- translation std dev, m -->
  <param name="odom_alpha3" value="0.8"/>
  <param name="odom_alpha4" value="0.2"/>
  <param name="laser_z_hit" value="0.5"/>
  <param name="laser_z_short" value="0.05"/>
  <param name="laser_z_max" value="0.05"/>
  <param name="laser_z_rand" value="0.5"/>
  <param name="laser_sigma_hit" value="0.2"/>
  <param name="laser_lambda_short" value="0.1"/>
  <param name="laser_model_type" value="likelihood_field"/>
  <!-- <param name="laser_model_type" value="beam"/> -->
  <param name="laser_likelihood_max_dist" value="2.0"/>
  <param name="update_min_d" value="0.2"/>
  <param name="update_min_a" value="0.5"/>
  <param name="odom_frame_id" value="odom"/>
  <param name="resample_interval" value="1"/>
  <param name="transform_tolerance" value="0.1"/>
  <param name="recovery_alpha_slow" value="0.0"/>
  <param name="recovery_alpha_fast" value="0.0"/>
</node>
</launch>

common_costmap.yaml:

robot_radius: 0.175

robot_base_frame: base_footprint
update_frequency: 4.0
publish_frequency: 3.0
transform_tolerance: 0.5

resolution: 0.05

obstacle_range: 5 ...