problem for navigation

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Hi all,

I am trying to navigate my pioneer 3dx robot using move_base and cost files. I am using sicklms200 laser. I am running the robot using ROSARIA. I have written my own transformation node following tf tutorials and it works fine.

I could build the map using gmapping package. Also global lacalisation using AMCL package has worked well. I am using amcl_diff.launch file in the examples folder of amcl package.

I am then trying to navigate using move_base with the following supporting files. base_local_planner_params.yaml

    TrajectoryPlannerROS:
  max_vel_x: 0.8
  min_vel_x: 0.1
  max_rotational_vel: 0.8
  min_in_place_rotational_vel: 0.3
  backup_vel: -0.2

  sim_time: 2.0
  path_distance_bias: 0.6
  goal_distance_bias: 0.6

  acc_limit_th: 3.2
  acc_limit_x: 2.5
  acc_limit_y: 2.5

  holonomic_robot: false

costmap_common_params.yaml

    obstacle_range: 2.5
raytrace_range: 3.0
inflation_radius: 0.35


footprint: [ [0.3302, -0.0508], [0.254, -0.0508], [0.254, -0.254], [-0.254, -0.254], [-0.254, 0.254], [0.254, 0.254], [0.254, 0.0508], [0.3302, 0.0508] ]

transform_tolerance: 0.2
map_type: costmap

observation_sources: laser_scan_sensor

laser_scan_sensor: {sensor_frame: laser, data_type: LaserScan, topic: scan, marking: true, clearing: true, expected_update_rate: 0.2}

global_costmap_params.yaml

global_costmap:
  global_frame: /map
  robot_base_frame: base_link
  update_frequency: 2.0
  publish_frequency: 10.0
  static_map: true

local_costmap_params.yaml

local_costmap:
  global_frame: /odom
  robot_base_frame: base_link
  update_frequency: 5.0
  publish_frequency: 10.0
  static_map: false
  rolling_window: true
  width: 5.0
  height: 5.0
  resolution: 0.025

along with these I use a launch file for my move_base as navigation.launch

<launch>


    <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
        <rosparam file="$(find p2os_launch)/costmap_common_params.yaml" command="load" ns="global_costmap" />
        <rosparam file="$(find p2os_launch)/costmap_common_params.yaml" command="load" ns="local_costmap" />
        <rosparam file="$(find p2os_launch)/local_costmap_params.yaml" command="load" />
        <rosparam file="$(find p2os_launch)/global_costmap_params.yaml" command="load" />
        <rosparam file="$(find p2os_launch)/base_local_planner_params.yaml" command="load" />
        <param name="base_global_planner" type="string" value="NavfnROS" />
        <param name="conservative_reset_dist" type="double" value="3.0" />
        <param name="controller_frequency" type="double" value="15.0" />
    </node>
</launch>

on running these I can see all the topics in my rviz also the inflated obstacle and if I give a path it also plans the path and I can see that in rviz, but it doesn't move. The laptop hangs for sometime and then I see in my terminal the following errors.

[ WARN] [1331748630.289077383]: [/move_base]:Sensor data is out of date, we're not going to allow commanding of the base for safety
[ WARN] [1331748630.331339888]: Map update loop missed its desired rate of 10.0000Hz... the loop actually took 2.4046 seconds
[ WARN] [1331748630.355892025]: [/move_base]:Sensor data is out of date, we're not going to allow commanding of the base for safety
[ WARN] [1331748630.422665254]: [/move_base]:Sensor data is out of date, we're not going to allow commanding of the base for safety
[ WARN] [1331748630.472304319]: The scan observation buffer has not been updated for 5.58 seconds, and it should be updated every 0.20 seconds.

and this error keeps on repeating. I also tried to close rviz ... (more)