I need guidelines on how to build an effective map for Ros navigation.

Following is the approach that I am adopting

• I have built the map using the hector_slam package while controlling my robot using an RF transmitter.
• For the move_base node I am using amcl localization parameters.

For the sake of testing my robot's position on the map, I drive the robot manually and I receive the following error and the robot randomly moves all around the map.

[WARN]: The origin of the sensor is out of map bounds. so the costmap cannot raytrace for it

[WARN]: Map update loop missed its desired rate of 10.0000Hz...the loop actually took 0.1207 seconds.

Autonomous navigation will only work if this localization problem is solved and according to my naive point of view I guess it's the problem of building the map with hector slam and later on using amcl for localization.

Questions:

1. Is this approach possible?
2. Can I use hector slam for localization instead of amcl?
3. How do i make the robot localize itself in the pre-build map (using hector_slam) when I control it manually