I got error on exercise 5.7

WARN] [1563530888.519974853, 346.520000000]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: canTransform: target_frame map does not exist… canTransform returned after 0.1 timeout was 0.1

i dont know what it come from…

Are you getting the error all the time, or it was just posted once or twice?
If it happen just once or twice you do not have to worry. This problem usually happens when you start the navigation system and some of the nodes get delayed in their start for any reason (may be CPU load). In those situations, there is one node that needs to have a transform published which has not been published yet. When the delay in the publisher finishes, then the transform is published and you do not get the error anymore.

In the case that you get this error all the time, then that means that you have something wrong in your code (may be the node that publishes the transform is dying for any reason).

Which one is your situation?