The simulation stops working.

[khs1937]

After re-scan, the following message will be returned.
"""
[Static_SLAM-23] process has died [pid 10213, exit code -6, cmd /home//catkin_ws/src/Tim-HW-BlueRov2_Sonar_based_SLAM-/src/icp/main.py __name:=Static_SLAM __log:=/home//.ros/log/04f8edce-a51c-11ec-977b-04421a87eedf/Static_SLAM-23.log].
log file: /home/~/.ros/log/04f8edce-a51c-11ec-977b-04421a87eedf/Static_SLAM-23*.log
"""

Can you help me?
What measures can be taken?

And I have a second question.
An Error exists for the map item in RVIZ.
"Transform : No tranform from [map] to [world]"
What am I missing?
When running the simulation, the following phrases exist:
"""
[tf_broadcaster_map-18] process has died [pid 10187, exit code 1, cmd /home//catkin_ws/src/Tim-HW-BlueRov2_Sonar_based_SLAM-/src/robot init/map_tf.py __name:=tf_broadcaster_map__log:=/home//.ros/log/04f8edce-a51c-11ec-977b-04421a87eedf/tf_broadcaster_map-18.log].
log file: /home/~/.ros/log/04f8edce-a51c-11ec-977b-04421a87eedf/tf_broadcaster_map-18*.log

[tf_broadcaster-19] process has died [pid 10189, exit code 1, cmd /home//catkin_ws/src/Tim-HW-BlueRov2_Sonar_based_SLAM-/src/robot init/odom_tf.py __name:=tf_broadcaster__log:=/home//.ros/log/04f8edce-a51c-11ec-977b-04421a87eedf/tf_broadcaster-19.log].
log file: /home/~/.ros/log/04f8edce-a51c-11ec-977b-04421a87eedf/tf_broadcaster-19*.log
"""

Two tf_broadcaster(_map).log files do not exist in the [/home/~/.ros/log/] folder.

[khs1937]

Static_SLAM-23.log

[rospy.client][INFO] 2022-03-16 20:27:12,385: init_node, name[/Static_SLAM], pid[10213]
[xmlrpc][INFO] 2022-03-16 20:27:12,387: XML-RPC server binding to 0.0.0.0:0
[xmlrpc][INFO] 2022-03-16 20:27:12,388: Started XML-RPC server [http://'myname':33417/]
[rospy.init][INFO] 2022-03-16 20:27:12,388: ROS Slave URI: [http://'myname':33417/]
[rospy.impl.masterslave][INFO] 2022-03-16 20:27:12,388: _ready: http://'myname':33417/
[rospy.registration][INFO] 2022-03-16 20:27:12,388: Registering with master node http://localhost:11311
[xmlrpc][INFO] 2022-03-16 20:27:12,388: xml rpc node: starting XML-RPC server
[rospy.init][INFO] 2022-03-16 20:27:12,488: registered with master
[rospy.rosout][INFO] 2022-03-16 20:27:12,488: initializing /rosout core topic
[rospy.rosout][INFO] 2022-03-16 20:27:12,492: connected to core topic /rosout
[rospy.simtime][INFO] 2022-03-16 20:27:12,493: initializing /clock core topic
[rospy.simtime][INFO] 2022-03-16 20:27:12,494: connected to core topic /clock
[rospy.internal][INFO] 2022-03-16 20:27:12,507: topic[/clock] adding connection to [http://'myname':42395/], count 0
[rospy.internal][INFO] 2022-03-16 20:27:12,547: topic[/SLAM/buffer_2] adding connection to [/Dynamic_Buffer], count 0
[rospy.internal][INFO] 2022-03-16 20:27:12,585: topic[/SLAM/T] adding connection to [/Mapping], count 0
[rospy.internal][INFO] 2022-03-16 20:27:12,586: topic[/SLAM/buffer_1] adding connection to [/Mapping], count 0
[rospy.internal][INFO] 2022-03-16 20:27:12,612: topic[/SLAM/offset] adding connection to [/read_dvl], count 0
[rospy.internal][INFO] 2022-03-16 20:27:12,676: topic[/rosout] adding connection to [/rosout], count 0
[rospy.internal][INFO] 2022-03-16 20:27:13,512: topic[/desistek_saga/pose_gt] adding connection to [http://'myname':42395/], count 0
[rospy.internal][INFO] 2022-03-16 20:27:18,021: topic[/SLAM/buffer/odom_source] adding connection to [http://'myname':34835/], count 0
[rospy.internal][INFO] 2022-03-16 20:27:18,044: topic[/SLAM/map] adding connection to [http://'myname':34835/], count 0
[rospy.internal][INFO] 2022-03-16 20:28:38,334: topic[/SLAM/buffer/odom_target] adding connection to [http://'myname':33077/], count 0
[rospy.internal][INFO] 2022-03-16 20:28:38,341: topic[/SLAM/buffer/pointcloud_target] adding connection to [http://'myname':33077/], count 0