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Astar Avoid Enable Avoidance Invalid Argument Error

I followed the steps shown here

for object avoidance but I get this error when I enable avoidance in astar avoid and the vehicle does not move.

“Invalid argument passed to lookupTransform argument target_frame in tf2 frame_ids cannot be empty”

My environment is
Autoware 1.11
ROS Kinetic
Ubuntu 16.04


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