I get the following error from move_base when rviz is run:

[ WARN] [1480802963.679228067]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: 
[ WARN] [1480802968.718639954]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: 
[ WARN] [1480802973.758889303]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: 
terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::lock_error> >'
  what():  boost: mutex lock failed in pthread_mutex_lock: Invalid argument
[move_base-2] process has died [pid 2931, exit code -6, cmd /opt/ros/indigo/lib/move_base/move_base __name:=move_base __log:=/home/ros/.ros/log/03c65bac-b9a5-11e6-a280-0026b6f0bacb/move_base-2.log].
log file: /home/ros/.ros/log/03c65bac-b9a5-11e6-a280-0026b6f0bacb/move_base-2*.log