Camera_process error: failed to get trans at timestamp

[LiuL70]

When i try to play back the Demo-Bag, an error ocured in Camera_process: It seems like that the process cannot transfer the coordinates between camrea coordinate and word coordinate. The error said that base_link frame and camera_long frame do not exist.
Could anyone help to solve this problem? Thank you!

E1012 07:28:25.382164 300 camera_process.cc:291] Cannot transform frame: base_link to frame camera_long , err: canTransform: target_frame base_link does not exist. canTransform: source_frame camera_long does not exist.. Frames: Frame localization exists with parent world.
Frame novatel exists with parent world.
E1012 07:28:25.382179 300 camera_process.cc:135] failed to get trans at timestamp: 1.63402e+09