Use a known map to do navigation

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Hi !

Is it possible to use a known map (saved as pgm and yaml) to do localization and navigation in rviz ?

I am actually using the turtlebot on Gazebo simulator. I created a map using gmapping and the keyboard teleop. And I saved this map using the map_server package. I got two files (one pgm and one yaml). I tried to follow the tutorial about the pr2 (pr2_simulator/Tutorials/UsingCustomMapForSimulation) and adapt it to my case.

When I start rviz I can see my map but the robot is not able to move and the navigation is not working. Furthermore, I can see errors on the fixedFrame /map.

Which parameters should I change ?

Below is my launch script :

<launch>   

<!-- start gazebo with boxes -->   
  <param name="/use_sim_time" value="true" />   
  <node name="gazebo" pkg="gazebo" type="gazebo" args="-u $(find turtlebot_gazebo_tutorial)/test.world" respawn="true" output="screen"/>

  <node name="gazebo_gui" pkg="gazebo" type="gui" />

  <include file="$(find turtlebot_gazebo_tutorial)/launch/robot.launch"/>

  <!--- Load map -->   <node name="map_server" pkg="map_server" type="map_server" args="$(find turtlebot_gazebo_tutorial)/map.yaml" respawn="true" />

  <!--- Run AMCL -->   <include file="$(find turtlebot_navigation)/config/amcl_turtlebot.launch" />

  <!--- Run Move Base  -->   <include file="$(find turtlebot_navigation)/config/move_base_turtlebot.launch" />

</launch>

Thanks for help.

Update:

The global error is: "Fixed frame /map doesn't exist."

And in the RobotModel I also have some errors: "No transform from [base_footprint] to [/map] No transform from [base_link] to [/map] No transform from [camera_link] to [/map] ..." for each frame.