Hi everyone,
Thanks for you kind and prompt replies.
But the move_base is still asking for a frame with frame_id /base_link (output in rxconsole):
Waiting on transform from base_link to /map to become available before running costmap, tf error: Frame id /base_link does not exist!
<launch>
<param name="global_costmap/robot_base_frame" value="/robot_base"/>
<param name="global_costmap/global_frame" value="/world"/>
<node name="move_base" pkg="move_base" type="move_base" respawn="true">
</node>
</launch>
$ rosrun tf view_frames
$ evince frames.pdf
$rosrun tf tf_echo /robot_base /world
ROS_INFO("FrameIDs: %s %s", robot_base_frame_.c_str(), global_frame_.c_str());