Trouble With Saving A Map With Hector SLAM

I am using ROS Hydro and Ubuntu 12.04. I am using the urg_node for my Hokuyo and trying to generate a map and then save. Below is the mapping_default.launch file that I use to see the map being generated in rviz: When I launch this file, I am able to watch the map in rviz while it is being generated. I want to be able to save the map as a geotiff file, so I started trying to get the tutorial.launch file to work, which is shown below: Below is the geotiff_mapper.launch file: Now when I run the tutorial.launch file I get the following error: [ INFO] [1410373945.642160928]: HectorSM p_base_frame_: base_link [ INFO] [1410373945.642310786]: HectorSM p_map_frame_: map [ INFO] [1410373945.642385481]: HectorSM p_odom_frame_: base_link [ INFO] [1410373945.642455767]: HectorSM p_scan_topic_: scan [ INFO] [1410373945.642523916]: HectorSM p_use_tf_scan_transformation_: true [ INFO] [1410373945.642591494]: HectorSM p_pub_map_odom_transform_: true [ INFO] [1410373945.642658196]: HectorSM p_scan_subscriber_queue_size_: 5 [ INFO] [1410373945.642726362]: HectorSM p_map_pub_period_: 2.000000 [ INFO] [1410373945.643165592]: HectorSM p_update_factor_free_: 0.400000 [ INFO] [1410373945.643237005]: HectorSM p_update_factor_occupied_: 0.900000 [ INFO] [1410373945.643302828]: HectorSM p_map_update_distance_threshold_: 0.400000 [ INFO] [1410373945.643369833]: HectorSM p_map_update_angle_threshold_: 0.060000 [ INFO] [1410373945.645806793]: HectorSM p_laser_z_min_value_: -1.000000 [ INFO] [1410373945.645884373]: HectorSM p_laser_z_max_value_: 1.000000 process[hector_trajectory_server-4]: started with pid [16995] [ INFO] [1410373945.709468433]: Waiting for tf transform data between frames /map and scanmatcher_frame to become available process[hector_geotiff_node-5]: started with pid [17018] [ INFO] [1410373945.952153724]: Successfully initialized hector_geotiff MapWriter plugin TrajectoryMapWriter. [ INFO] [1410373945.952283235]: Geotiff node started [ WARN] [1410373965.711501839]: No transform between frames /map and scanmatcher_frame available after 20.002065 seconds of waiting. This warning only prints once. I then tried adding a static transform publisher to my mapping_default.launch file so that the end looks like this: And I get the same output, with the exception that the new static transform publisher is now running: [ INFO] [1410374402.196002948]: HectorSM p_base_frame_: base_link [ INFO] [1410374402.199598729]: HectorSM p_map_frame_: map [ INFO] [1410374402.199680198]: HectorSM p_odom_frame_: base_link [ INFO] [1410374402.199749295]: HectorSM p_scan_topic_: scan [ INFO] [1410374402.199822257]: HectorSM p_use_tf_scan_transformation_: true [ INFO] [1410374402.199889342]: HectorSM p_pub_map_odom_transform_: true [ INFO] [1410374402.199954944]: HectorSM p_scan_subscriber_queue_size_: 5 [ INFO] [1410374402.200022965]: HectorSM p_map_pub_period_: 2.000000 [ INFO] [1410374402.200089510]: HectorSM p_update_factor_free_: 0.400000 [ INFO] [1410374402.200154072]: HectorSM p_update_factor_occupied_: 0.900000 [ INFO] [1410374402.200220502]: HectorSM p_map_update_distance_threshold_: 0.400000 [ INFO] [1410374402.200286026]: HectorSM p_map_update_angle_threshold_: 0.060000 [ INFO] [1410374402.200350446]: HectorSM p_laser_z_min_value_: -1.000000 [ INFO] [1410374402.200413883]: HectorSM p_laser_z_max_value_: 1.000000 process[map_to_scanmatcher_frame_broadcaster-4]: started with pid [17830] process[hector_trajectory_server-5]: started with pid [17843] [ INFO] [1410374402.395814934]: Waiting for tf transform data between frames /map and scanmatcher_frame to become available process[hector_geotiff_node-6]: started with pid [17866] [ INFO] [1410374402.626690285]: Successfully initialized hector_geotiff MapWriter plugin TrajectoryMapWriter. [ INFO] [1410374402.626830806]: Geotiff node started [ WARN] [1410374422.398711648]: No transform between frames /map and scanmatcher_frame available after 20.002872 seconds of waiting. This warning only prints once. Any assistance would be greatly appreciated. Thank you.