How to move rbcar in Gazebo simulation

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Hello, I am trying to use the rbcar_common and rbcar_sim ( http://wiki.ros.org/rbcar_sim?distro=... ) packages to get an rbcar robot to move in Gazebo. The robot uses the skid_steering_plugin according to the wiki. I'm new to ROS and I am finding it hard to realize how to publish topics that will make this robot move.

roslaunch rbcar_gazebo rbcar.launch opens the model in Gazebo and it looks ok. I have then tried all the lauch files in rbcar_navigation but none of them have worked. In particular when I run:

roslaunch rbcar_navigation move_base_amcl.launch

I get

NODES
  /
    amcl (amcl/amcl)
    map_server (map_server/map_server)
    move_base (move_base/move_base)
    rviz (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[map_server-1]: started with pid [6166]
process[amcl-2]: started with pid [6167]
process[move_base-3]: started with pid [6168]
process[rviz-4]: started with pid [6190]
[ INFO] [1477589354.751377650]: Requesting the map...
[ INFO] [1477589354.769636127]: Received a 2432 X 2272 map @ 0.050 m/pix

[ INFO] [1477589354.846352822]: Initializing likelihood field model; this can take some time on large maps...
[ WARN] [1477589354.893053667, 9.535000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 9.535 timeout was 0.1.
[ INFO] [1477589355.146714273, 9.789000000]: Done initializing likelihood field model.
[ WARN] [1477589359.944013281, 14.577000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.102 timeout was 0.1.
[ WARN] [1477589364.988898232, 19.614000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.101 timeout was 0.1.
[ WARN] [1477589370.043614880, 24.660000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.1 timeout was 0.1.
[ WARN] [1477589370.248725939, 24.864000000]: No laser scan received (and thus no pose updates have been published) for 24.864000 seconds.  Verify that data is being published on the /scan_filtered topic.
[ WARN] [1477589375.087841805, 29.696000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.1 timeout was 0.1.
[ WARN] [1477589380.132100474, 34.732000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.1 timeout was 0.1.
[ WARN] [1477589385.183140865, 39.772000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.102 timeout was 0.1.
[ WARN] [1477589385.275841157, 39.864000000]: No laser scan received (and thus no pose updates have been published) for 39.864000 seconds.  Verify that data is being published on the /scan_filtered topic.
[ WARN] [1477589390.231475400, 44.812000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.1 timeout was 0.1.
[ WARN] [1477589395.276557064 ...