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A tool I find very helpful to see whats going on with the tf tree is view_frames from the tf package.

It will print you a pdf file with your current tf tree.

An alternative to what Guido suggested would be to tell the navigation stack what is the name you have given to the robot base frame. It probably required more work though. Assuming you are using similar files to those in the navigation tutorials open the files global_costmap_params.yaml and local_costmap_params.yaml and change the lines robot_base_frame: /base_link to robot_base_frame: /chassis

Gonçalo Cabrita