I try to get the hectorslam (github.com/tu-darmstadt-ros-pkg/hectorslam.git /catkin) package running with the navigation stack (github.com/ros-planning/navigation.git /kinetic-devel). The hectorslam package runs well. A map is generated, localization works smooth. Trying to get the hectorslam running with the navigation stack leads me to troubles.

I think that I'm doing something wrong with the configuration.

roswtf tells me:

Found 1 warning(s).
Warnings are things that may be just fine, but are sometimes at fault

WARNING The following node subscriptions are unconnected:
 * /hector_mapping:
   * /initialpose
   * /syscommand
   * /tf_static
 * /move_base:
   * /move_base_simple/goal
   * /tf_static
   * /odom
   * /move_base/cancel


Found 1 error(s).
ERROR The following nodes should be connected but aren't:
 * /move_base->/move_base (/move_base/global_costmap/footprint)
 * /move_base->/move_base (/move_base/local_costmap/footprint)

The rosgraph looks like this:

The tf view_frames delivers:

My configuration files for the navigation stack are as the following ones:

1) The "top level" configuration file

<launch>
  <include file="$(find rplidar_ros)/launch/rplidar.launch" />
  <include file="$(find hector_slam_launch)/launch/slam.launch" />
  <!-- <include file="$(find amcl)/examples/amcl_diff.launch" /> -->

 <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find darkmole_nav)/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find darkmole_nav)/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find darkmole_nav)/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find darkmole_nav)/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find darkmole_nav)/base_local_planner_params.yaml" command="load" />
  </node>
</launch>

2) The baselocalplanner_params.yaml:

TrajectoryPlannerROS:
  max_vel_x: 0.45
  min_vel_x: 0.1
  max_vel_theta: 1.0
  min_in_place_vel_theta: 0.4

  acc_lim_theta: 3.2
  acc_lim_x: 2.5
  acc_lim_y: 2.5

  holonomic_robot: false

3) The costmapcommonparams.yaml

obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[0.305, 0.278], [0.04, 0.193], [-0.04, 0.193], [-0.282, 0.178], [-0.282, -0.178], [-0.04, -0.193], [0.04, -0.193], [0.305, -0.278]]
#robot_radius: ir_of_robot
inflation_radius: 0.55
transform_tolerance: 1.5
observation_sources: laser_scan_sensor
update_frequency: 1.0
laser_scan_sensor: {sensor_frame: laser, data_type: LaserScan, topic: scan, marking: true, clearing: true}

4) The globalcostmapparams.yaml

global_costmap:
  global_frame: map
  robot_base_frame: base_link
# update_frequency: 5.0
  static_map: true

5) The localcostmapparams.yaml

local_costmap:
  global_frame: map
  robot_base_frame: base_link
  # update_frequency: 5.0
  publish_frequency: 2.0
  static_map: true
  rolling_window: true
  width: 6.0
  height: 6.0
  resolution: 0.05

What did I wrong here?