[ WARN] [1719982048.248732191, 1317355707.086903004]: No transform between frames world and velodyne available after 1317355707.086903 seconds of waiting. This warning only prints once.

[Zhangjyhhh]

I use kitti2bag to convert other kitti_raw _data to bag file, when i run the code ,it show warning

(base) zjy@zjy-QiTianM435-N000:~/Documents/AAA/floam_ws$ roslaunch floam floam.launch
... logging to /home/zjy/.ros/log/58b3286e-38f7-11ef-b81a-38f3ab85a753/roslaunch-zjy-QiTianM435-N000-10184.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://zjy-QiTianM435-N000:43979/

SUMMARY
========

PARAMETERS
 * /base_link/trajectory_server_loam/source_frame_name: base_link
 * /base_link/trajectory_server_loam/target_frame_name: world
 * /base_link/trajectory_server_loam/trajectory_publish_rate: 10.0
 * /base_link/trajectory_server_loam/trajectory_update_rate: 10.0
 * /gt/trajectory_server_loam/source_frame_name: velodyne
 * /gt/trajectory_server_loam/target_frame_name: world
 * /gt/trajectory_server_loam/trajectory_publish_rate: 10.0
 * /gt/trajectory_server_loam/trajectory_update_rate: 10.0
 * /max_dis: 90.0
 * /min_dis: 3.0
 * /rosdistro: melodic
 * /rosversion: 1.14.13
 * /scan_line: 64
 * /scan_period: 0.1
 * /use_sim_time: True
 * /vertical_angle: 2.0

NODES
  /
    floam_laser_processing_node (floam/floam_laser_processing_node)
    floam_odom_estimation_node (floam/floam_odom_estimation_node)
    floam_pose_save_node (floam/floam_pose_save_node)
    rosbag_play (rosbag/play)
    rviz (rviz/rviz)
    word2map_tf (tf/static_transform_publisher)
  /base_link/
    trajectory_server_loam (hector_trajectory_server/hector_trajectory_server)
  /gt/
    trajectory_server_loam (hector_trajectory_server/hector_trajectory_server)

auto-starting new master
process[master]: started with pid [10209]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 58b3286e-38f7-11ef-b81a-38f3ab85a753
process[rosout-1]: started with pid [10235]
started core service [/rosout]
process[rosbag_play-2]: started with pid [10241]
process[floam_odom_estimation_node-3]: started with pid [10243]
process[floam_laser_processing_node-4]: started with pid [10244]
process[floam_pose_save_node-5]: started with pid [10249]
process[word2map_tf-6]: started with pid [10251]
process[rviz-7]: started with pid [10256]
process[gt/trajectory_server_loam-8]: started with pid [10259]
process[base_link/trajectory_server_loam-9]: started with pid [10264]
[ WARN] [1719982048.248732191, 1317355707.086903004]: No transform between frames world and velodyne available after 1317355707.086903 seconds of waiting. This warning only prints once.

i just want to know how to solve this problem, and this is my bag file infomation