Problem when using move_base in my own robot model

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Dear everyone, I am trying to implement navigation after gmapping and after looking at the API and other models liky husky I am finding some problems. i will write down a series of things that are happening in my simulation so that you can have a good idea and a fast recognition of the issue:

1. I am using my own multi robot model with its own urdf description. It has a diff drive odom controller and a modified hokuyo laser.

2. Gmapping worked perfectly and I have a map of the environment.

3. Once I launch everything now including the amcl and move base launch, I get a map with the robot on it, its pointcloud, and the laser readings correct.

4. When I try to set a goal in rviz for moving it, it is set properly (displaying the following message: etting goal: Frame:map, Position(0.189, 1.851, 0.000), Orientation(0.000, 0.000, 0.952, 0.306) = A). HOWEVER, in the amcl launch terminal it says : AND most importantly the robot does not move.

5. I checked all the topics of move_base and all of them are working but cost_cloud and trajectory_cloud.

6. This is my tf tree (I cannot attach yet an image): link text

7. Do you think it is a problem only with moving the base?

8. What should I put as the robot base frame and the global frame? Maybe that is the problem.

I will be very pleased if someone can help me with this as it is a work for my dissertation and I have been stuck for weeks (and I do not have that much of time left :( ) Thanks