problem with movement goal

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Hello, friends. I'm trying to realize movement goal with a rplidar. And below are my tf and nodes frame. I want the move_base node to tell me how to approach a spot in language by TTS. After I run all the nodes, It doesn't seem to work. I got warnings like this: http://chuantu.biz/t5/112/1497967202x... Meanwhile my PC runs slowly feels like overloading. I have ran the fake_move_base demo several times but it goes fluently. Can you help me fix this problem? Thank you so much!

#####fake_move_base.launch##### <launch>

          <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen" clear_params="true">
            <rosparam file="$(find rbx1_nav)/config/fake/costmap_common_params.yaml" command="load" ns="global_costmap" />
            <rosparam file="$(find rbx1_nav)/config/fake/costmap_common_params.yaml" command="load" ns="local_costmap" />
            <rosparam file="$(find rbx1_nav)/config/fake/local_costmap_params.yaml" command="load" />
            <rosparam file="$(find rbx1_nav)/config/fake/global_costmap_params.yaml" command="load" />
            <rosparam file="$(find rbx1_nav)/config/fake/base_local_planner_params.yaml" command="load" />
          </node>

        </launch>

#####costmap_common_params.yaml######

    obstacle_range: 2.5
    raytrace_range: 3.0
    #footprint: [[0.175, 0.175], [0.175, -0.175], [-0.175, -0.175], [-0.175, 0.175]]
    #footprint_inflation: 0.01
    robot_radius: 0.175
    inflation_radius: 0.2
    max_obstacle_height: 0.6
    min_obstacle_height: 0.0
    observation_sources: scan

#####global_costmap_params.yaml######
global_costmap: global_frame: map robot_base_frame: base_footprint update_frequency: 1.0 publish_frequency: 1.0 static_map: true rolling_window: false resolution: 0.01 transform_tolerance: 1.0 map_type: costmap

#####local_costmap_params.yaml######
local_costmap: global_frame: map robot_base_frame: base_footprint update_frequency: 3.0 publish_frequency: 1.0 static_map: true rolling_window: false width: 6.0 height: 6.0 resolution: 0.01 transform_tolerance: 1.0scan: {data_type: LaserScan, topic: /scan, marking: true, clearing: true, expected_update_rate: 0}