i have updated the tutorial. actually i was working on the package called
test2 and just copied the move_base.xml file without remembering that it
contains reference to test2. i'm extremely sorry for the inconvenience.
hopefully ur problems a and d would have been resolved now.  problem e i
have already addressed it in troubleshooting part of the tutorial.
warnings that u have listed in b can be suppressed by decreasing the
frequency in local_costmap_params.yaml file(i think its due to calculations
involved and the pc is not able to update it ie the pc can't complete the
calculations within the time specified).

the warning in c can be avoided by increasing the inflation radius
costmap_common_params.yaml. refer  http://www.ros.org/wiki/costmap_2d
costmap_2d  if u don't know why the warning is displayed.

i hope ur problems are resolved.
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