I figured out that the problem is in the yaml file.

in the tutorial: local_costmap_params.yaml is like:
local_costmap:
global_frame: odom
robot_base_frame: base_link
update_frequency: 5.0
publish_frequency: 2.0
static_map: false
rolling_window: true
width: 6.0
height: 6.0
resolution: 0.05

The first line specify the namespace. It seems that it is not the correct
way to do in yaml file. I delete this line and modify the move_base.launch
file with the line below:

You may want to check your whitespace. You can definitely include that namespace in the yaml file and still have it function correctly. For example, I've been running this config for my local costmap ( https://github.com/cwru-robotics/cwru-ros-pkg/blob/master/cwru_semi_stable/cwru_configs/harlie/nav/costmap_local_params.yaml ) with this move_base launch ( https://github.com/cwru-robotics/cwru-ros-pkg/blob/master/cwru_semi_stable/cwru_nav/start_nav.launch ) for the past couple of months with no errors.

I have seen errors when things were tabs instead of spaces or vice versa (I can't recall exactly right now which is correct) that would cause the yaml file to look correct but throw errors when being parsed. You could try downloading the yaml file I linked above and compare it's whitespace to the whitespace in the files you were having errors with.

- Eric

<rosparam command="load" file="$(find nav_irobot)/local_costmap_params.yaml"

ns="local_costmap" />

It works. and the same thing to global_costmap_params.yaml and

base_local_planner_params.yaml

The three lines I mentioned in the previous post need to be modified by
adding corresponding ns=""

For robot initial position setting , I figured out.

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