Hi Eitan,
Thanks for the response.
Now I have base_local_planner_params.yaml:
TrajectoryPlannerROS:
  max_vel_x: 0.45
  min_vel_x: 0.1
  max_rotational_vel: 1.0
  min_in_place_rotational_vel: 0.4

  acc_lim_th: 3.2
  acc_lim_x: 2.5
  acc_lim_y: 2.5

  holonomic_robot: false
================
costmap_common_params.yaml with tolerance parameter =0.5 :
obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[0.3, 0.3], [0.3, -0.3], [-0.3, -0.3], [-0.3, 0.3]] 
#robot_radius: ir_of_robot
inflation_radius: 0.55

transform_tolerance : 0.5
observation_sources: laser_scan_sensor
laser_scan_sensor: {sensor_frame: laser, data_type: LaserScan, topic: scan,
marking: true, clearing: true}
=============
This time I get following messages:
FROM move_base:
[ INFO] [1283433548.592374104]: Requesting the map...
[ INFO] [1283433548.618660475]: Subscribed to Topics: laser_scan_sensor
[ INFO] [1283433548.733526892]: Received a 4000 X 4000 map @ 0.050 m/pix

[ INFO] [1283433548.971970544]: map returned
[ INFO] [1283433548.980927199]: Initializing likelihood field model; this
can take some time on large maps...
[ INFO] [1283433549.468465700]: Done initializing likelihood field model.
[ WARN] [1283433549.537952460]: Message from [/sicklms] has a
non-fully-qualified frame_id [laser]. Resolved locally to [/laser].  This is
will likely not work in multi-robot systems.  This message will only print
once.
[ INFO] [1283433549.672828602]: Requesting the map...

[ INFO] [1283433549.674184362]: Still waiting on map...

[ INFO] [1283433550.846470373]: Still waiting on map...

[ INFO] [1283433551.684312605]: Received a 4000 X 4000 map at 0.050000 m/pix

[ INFO] [1283433559.928759117]: MAP SIZE: 4000, 4000
[ INFO] [1283433559.958603064]: Subscribed to Topics: laser_scan_sensor
[ WARN] [1283433603.891596153]: Failed to transform initial pose in time
(You requested a transform that is 0.073 miliseconds in the past, 
but the most recent transform in the tf buffer is 69.453 miliseconds old.
 When trying to transform between /map and /base_link.
)
[ INFO] [1283433603.891702661]: Setting pose (1283433603.891684): 98.602
102.388 0.000
[ WARN] [1283433653.628200513]: Control loop missed its desired rate of
20.0000Hz... the loop actually took 0.6270 seconds
^C[move_base-3] killing on exit
[amcl-2] killing on exit
[map_server-1] killing on exit
[ WARN] [1283433677.200147299]: Map update loop missed its desired rate of
5.0000Hz... the loop actually took 0.2472 seconds
[ WARN] [1283433677.206179282]: Control loop missed its desired rate of
20.0000Hz... the loop actually took 0.2780 seconds
[ WARN] [1283433677.206289282]: Costmap2DROS transform timeout. Current
time: 1283433677.2062, global_pose stamp: 1283433676.6095, tolerance: 0.5000
==================
FROM rviz:
[ INFO] [1283433568.383981707]: Loading general config from
[/home/safdar/.rviz/config]
[ INFO] [1283433568.384581644]: Loading display config from
[/home/safdar/.rviz/display_config]
[ WARN] [1283433569.600405432]: Message from [/sicklms] has a
non-fully-qualified frame_id [laser]. Resolved locally to [/laser].  This is
will likely not work in multi-robot systems.  This message will only print
once.
[ INFO] [1283433603.890942858]: Setting pose: 98.602 102.388 0.000
[frame=/map]
[ WARN] [1283433604.010298739]: Message from [/amcl] has a
non-fully-qualified frame_id [map]. Resolved locally to [/map].  This is
will likely not work in multi-robot systems.  This message will only print
once.
=======================
One thing more I think. This is path planning where move_base is used, but
before this step we have localization. I also experienced that when I run
only RosAria,Sicklms,Map_server and Amcl then in rviz the laser scan shows
position of the obstacles different to in the Map. Like when I start
localization then laser shows wall on a offset away from the wall in the
Map. Does this mean that there is something wrong with my localization. For
having satisfactory localization result what do I need to check please?

Thanks and best regards,
safdar
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