Invalid argument passed to lookupTransform argument source_frame in tf2 frame_ids cannot be empty

[AlexWUrobot]

my roslaunch is like this

<launch>
 <arg name="marker_size" default="16" />
 <arg name="max_new_marker_error" default="0.08" />
 <arg name="max_track_error" default="0.2" />

 <arg name="cam_image_topic" default="/iris/down_camera_link/down_raw_image" />
 <arg name="cam_info_topic" default="/iris/down_camera_link/down_info_image" />
 <arg name="output_frame" default="iris/" /> 

 <node name="tf_static" pkg="tf" type="static_transform_publisher" args="0 0 0 0 0 0 1 /map iris/ 100" />

 <node name="ar_track_alvar" pkg="ar_track_alvar" type="individualMarkersNoKinect" respawn="false" output="screen">
  <param name="marker_size"           type="double" value="$(arg marker_size)" />
  <param name="max_new_marker_error"  type="double" value="$(arg max_new_marker_error)" />
  <param name="max_track_error"       type="double" value="$(arg max_track_error)" />
  <param name="output_frame"          type="string" value="$(arg output_frame)" />
  <param name="max_frequency"         type="double" value="30.0" />

  <remap from="camera_image"  to="$(arg cam_image_topic)" />
  <remap from="camera_info"   to="$(arg cam_info_topic)" />
 </node>
</launch>

in ubuntu 18.04 works, but in ubuntu 20.04 does not work.
The error is like: "Invalid argument passed to lookupTransform argument source_frame in tf2 frame_ids cannot be empty"
"Warning: Invalid argument passed to canTransform argument source_frame in tf2 frame_ids cannot be empty
at line 126 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp
"

I also tried different frame_id, such as map, odom, base_link, but all of them cannot work.

camera works well according to the rviz

Therefore, I suspect that there may be an issue in the noetic-branch in ar_track_alvar.
However, I catkin build ar_track_alvar and ar_track_alvar_msg successfully in my workspace
Thank you very much for the help.

[rucha6198]

Hello. I am getting the same error. Were you able to solve the error? Is it actually a problem with Ros noetic branch? Please let me know if anyone knows how to fix this issue.

Thank you in advance.