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)

edit

When I tried the launch my navigation.launch, the robot comes in the desired direction in rviz, but when I use 2d pose estimate, it turns the robot 90 degrees to the left according to what it should be. Later, when I give a target point with 2d nav goal, it cannot follow the path and moves to other directions by sliding to the left. I looked for errors using roswtf and got the following nodes connection error. I don't know where is the problem. How can I fix the footprints?

roswtf output

Found 2 warning(s).
Warnings are things that may be just fine, but are sometimes at fault

WARNING The following node subscriptions are unconnected:
* /move_base:
* /move_base/cancel
* /gazebo:
* /gazebo/set_link_state
* /gazebo/set_model_state
* /rviz:
* /scan
* /map_updates
WARNING These nodes have died:
* urdf_spawner-4
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)

navigation.launch

<?xml version="1.0"?>
<launch>
<!-- Arguments -->
<arg name="model" default="$(find project_ws)/urdf/wheel.urdf"/>
<arg name="map_file" default="$(find project_ws)/gazebo_map/map.yaml"/>
<arg name="open_rviz" default="true"/>
<arg name="move_forward_only" default="false"/>
<arg name="paused" default="false"/>
<arg name="use_sim_time" default="true"/>
<arg name="gui" default="true"/>
<arg name="headless" default="false"/>
<arg name="debug" default="false"/>
<arg name="x" default="1.0"/>
<arg name="y" default="-5.0"/>
<arg name="z" default="1.0"/>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find turtlebot3_gazebo)/worlds/turtlebot3_house.world"/>
<arg name="debug" value="$(arg debug)" />
<arg name="gui" value="$(arg gui)" />
<arg name="paused" value="$(arg paused)"/>
<arg name="use_sim_time" value="$(arg use_sim_time)"/>
<!--arg name="world_name" value="world/mud.world"/-->
<arg name="headless" value="$(arg headless)"/>
</include>
<param name="robot_description" command="$(find xacro)/xacro $(arg model)" />
<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model"
    args="-z 1.0 -unpause -urdf -model robot -param robot_description -x $(arg x) -y $(arg y) -z $(arg z)"  respawn="false" output="screen" />
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
respawn="false" output="screen">
</node>
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
</node>
<!-- Map server -->
<node pkg="map_server" name="map_server" type="map_server" args="$(arg map_file)"/>
<!-- AMCL -->
<include file="$(find project_ws)/launch/amcl.launch"/>
<!-- move_base -->
<include file="$(find project_ws)/launch/move_base.launch">
<arg name="model" value="$(arg model)" />
<arg name="move_forward_only" value="$(arg move_forward_only)"/>
</include>
<!-- rviz -->
<group if="$(arg open_rviz)"> 
<node pkg="rviz" type="rviz" name="rviz" required="true"
      args="-d $(find project_ws)/rviz/navigation.rviz"/>
  </group>
</launch>

move_base.launch

<?xml version="1.0"?>
<launch>
<!-- Arguments -->
<arg name="model" default="$(find project_ws)/urdf/wheel.urdf"/>
<arg name="cmd_vel_topic" default="/vehiclediffdrive/cmd_vel" />
<arg name="odom_topic" default="/vehiclediffdrive/odom ...