unable to perform it with self-recorded bag

[YushengWHU]

Hello here, I successfully compiled horizon_high_slam with pcl1.7 eigen3.3.7.
When I tried to run with my own bag, and the rviz window looks like [this]

only the odometry is visible, the "map" is not visible. When I set the fixed frame to "map", and it gives me "fixed frame map does not exist". But when I try using "rostopic echo" , each pointcloud2 related topic have data.
The rviz terminal gives me:
[ WARN] [1597218551.175210933]: MessageFilter [target=map ]: Dropped 100.00% of messages so far. Please turn the [ros.rviz.message_notifier] rosconsole logger to DEBUG for more information.
Do you have any suggestions?

[YushengWHU]

actually, surround and faraway are all visible, but it cant concatenate into a big map, which is because of the incorrect tf, however, when I set the frame to map, nothing will work