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Hi Miguel,

It seems that the transform between the /map frame and the /odom frame works fine for you. From the warning you get I would say that you have some configuration parameters of the costmaps that are not set correctly. The move_base node uses two costmaps, the local costmap and the global costmap. If you are using a map, make sure to configure the global costmap as static map. However, the local one should not be static (look at the rolling_window parameter). You can find all the parameters at http://www.ros.org/wiki/costmap_2d

I hope this can help you!