Hi all,
I have localized the Robot.Now for path planning I am following the tutorial 
http://www.ros.org/wiki/navigation/Tutorials/RobotSetup/ all files I
successfully made. On terminal1 (as given at the end of above tutorial)
launch file for configuration runs fine. But on terminal2 when I launch
move_base.launch I get the following messages:
[ INFO] [1284477699.476876171]: Received a 4000 X 4000 map at 0.050000 m/pix

[ INFO] [1284477706.340669061]: MAP SIZE: 4000, 4000
[ INFO] [1284477706.346185124]: Subscribed to Topics: laser_scan_sensor
[ WARN] [1284477720.368562198]: The robot's start position is off the global
costmap. Planning will always fail, are you sure the robot has been properly
localized?
[ WARN] [1284477720.485674147]: The robot's start position is off the global
costmap. Planning will always fail, are you sure the robot has been properly
localized?
[ WARN] [1284477786.254309976]: Failed to transform initial pose in time
(You requested a transform that is 0.077 miliseconds in the past, 
but the most recent transform in the tf buffer is 4.639 miliseconds old.
 When trying to transform between /map and /base_link.
)
[ INFO] [1284477786.254419836]: Setting pose (1284477786.254400): 100.440
100.506 0.000
[ WARN] [1284477787.752939201]: Publisher on '/cmd_vel' destroyed
immediately after creation.  Did you forget to store the handle?
[ERROR] [1284477788.369285264]: Aborting because a valid plan could not be
found. Even after executing all recovery behaviors
[ WARN] [1284477838.381159816]: Control loop missed its desired rate of
20.0000Hz... the loop actually took 0.4917 seconds

I try to send goal through rviz by pressing 2D Nav Goal button and on the
map but nothing happens.Also I tried to send goal through code as on
http://www.ros.org/wiki/navigation/Tutorials/SendingSimpleGoals but Robot
(poineer3DX) never moves.
Any idea please,
regards and thanks
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