Creating SLAM in Rviz2

Question

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Your enviroment

• Ubuntu MATE 18.04
• ROS2 Dashing
• Gazebo9
• Rviz2

Subject of the issue

I'm trying to validate SLAM with Rviz2.
However, the map cannot be displayed at the stage of forming the map with Cartographer.

Steps to reproduce

You need to have the official ROS Turtlebot3 package installed / set up in advance.
First, start Gazebo of Tutrlebot3.

$ ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

Then start Cartographer.

$ ros2 launch turtlebot3_cartographer cartographer.launch.py use_sim_time:=True

Expected behaviour

Within Rviz2, form the map acquired by Tutrlebot3.

Actual behaviour

No map is formed and Map always returns "No map received".

Log

[occupancy_grid_node-2] [WARN] [occupancy_grid_node]:  submap_slices and last_frame_id id empty