[ros-users] amcl for localization

[safdar_zaman]

Hi brian.
I run roscore,sicklms,RosAria,gmapping,map_server,amcl this gives
localization successfully.
Then for path planning
I run [$rosrun move_base move_base] it prints following messages
continuously:
 [ WARN] [1282139880.399068492]: Costmap2DROS transform timeout. Current
time: 1282139880.3990, global_pose stamp: 1282139880.0650, tolerance: 0.3000
[ WARN] [1282139880.507302147]: Costmap2DROS transform timeout. Current
time: 1282139880.5072, global_pose stamp: 1282139880.0650, tolerance: 0.3000
[ WARN] [1282139880.545678180]: Control loop missed its desired rate of
20.0000Hz... the loop actually took 0.4726 seconds
[ WARN] [1282139880.546131938]: Costmap2DROS transform timeout. Current
time: 1282139880.5461, global_pose stamp: 1282139880.0650, tolerance: 0.3000
[ WARN] [1282139880.546568516]: Costmap2DROS transform timeout. Current
time: 1282139880.5465, global_pose stamp: 1282139880.0650, tolerance: 0.3000
[ WARN] [1282139880.547007957]: Costmap2DROS transform timeout. Current
time: 1282139880.5470, global_pose stamp: 1282139880.0650, tolerance: 0.3000

Then I run [$rosrun costmap_2d costmap_2d] but it also starts printing
following messages:
[ WARN] [1282139882.981154972]: Costmap2DROS transform timeout. Current
time: 1282139882.9811, global_pose stamp: 1282139880.4338, tolerance: 0.3000
[ WARN] [1282139883.181144904]: Costmap2DROS transform timeout. Current
time: 1282139883.1811, global_pose stamp: 1282139880.4338, tolerance: 0.3000
[ WARN] [1282139883.381235360]: Costmap2DROS transform timeout. Current
time: 1282139883.3811, global_pose stamp: 1282139880.4338, tolerance: 0.3000
[ WARN] [1282139883.581151050]: Costmap2DROS transform timeout. Current
time: 1282139883.5811, global_pose stamp: 1282139880.4338, tolerance: 0.3000
[ WARN] [1282139883.781153846]: Costmap2DROS transform timeout. Current
time: 1282139883.7811, global_pose stamp: 1282139880.4338, tolerance: 0.3000
[ WARN] [1282139883.981204629]: Costmap2DROS transform timeout. Current
time: 1282139883.9811, global_pose stamp: 1282139880.4338, tolerance: 0.3000

both move_base and costmap_2d prints almost same messages.

I have been studying move_base package (http://www.ros.org/wiki/move_base)
for last week but I dont understand how to bring up 
1.costmap_2d  (which I run as above get messages)
2.nav_core      (this nave_core has no node to run.how to use this package
here?)
3.base_local_planner (This package also has no node. how to get planners?)
4.navfn                  (this package has node navfn_node I run it but get
following message:)
[ INFO] [1282139722.719482529]: Subscribed to Topics: 

Any idea please?

regards

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