Map_server fails to publish transform

Map server node fails to publish transform when i execute the below launch file. All other nodes are functioning properly. Below is my rviz results where the map's corner is oriented with the origin of rviz grid. I have verified the rqt_graph after launching the file, there is no transform published.  I have added the amcl node to the launch file as instructed in a book and i got into a new error as below. Please find the edited launch file above. > [ERROR] [1453990912.591443071,> 49.843000000]: Couldn't transform from hokuyo_link to base_link, even though> the message notifier is in use