docker运行roslaunch mocap g1_retarget.launch报错TF 树断开

[sunmengmm]

请问佬知道这是什么情况吗？TF 错误，hand和world不能确定
Traceback (most recent call last):
File "/root/catkin_ws/src/mocap/src/g1_retarget.py", line 127, in
(trans, rot) = human_tf.lookupTransform('/world', '/lhand', rospy.Time(0))
File "/opt/ros/noetic/lib/python3/dist-packages/tf/listener.py", line 104, in lookupTransform
msg = self._buffer.lookup_transform(strip_leading_slash(target_frame), strip_leading_slash(source_frame), time)
File "/opt/ros/noetic/lib/python3/dist-packages/tf2_ros/buffer.py", line 90, in lookup_transform
return self.lookup_transform_core(target_frame, source_frame, time)
tf2.ConnectivityException: Could not find a connection between 'world' and 'lhand' because they are not part of the same tree.Tf has two or more unconnected trees.