Hector-Slam not producing map, lookupTransform timed out error

I am running Ubuntu 16.04 and running ROS Kinetic. I am currently using an ouster LIDAR that obtains pointcloud2 messges. I am using pointcloud_to_laserscan package to obtain laserscan messages from the pointcloud2 messages. After running rviz, I see that the package is running correctly and showing pointcloud and laserscan data. pointcloud_to_laserscan: rosrun pointcloud_to_laserscan pointcloud_to_laserscan_node cloud_in:=/os1_node/points Next I launch the hector_slam package using the following launch file: After running "rosrun tf view_frames", my tree shows: odom -> base_link -> os1 , with recent transform being about 0.005 seconds old so I believe my transformation are correct. After hector_slam us running, I obtain the following: [ INFO] [1534352731.363850888]: lookupTransform base_link to os1 timed out. Could not transform laser scan into base_frame. [ INFO] [1534352731.869131126]: lookupTransform base_link to os1 timed out. Could not transform laser scan into base_frame. [ INFO] [1534352732.372954411]: lookupTransform base_link to os1 timed out. Could not transform laser scan into base_frame. [ INFO] [1534352732.874232147]: lookupTransform base_link to os1 timed out. Could not transform laser scan into base_frame. If I run "rostopic echo map", all I obtain is -1 repeating Any thoughts on what I am doing wrong?