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Which frame are you publishing position estimates in? You should make sure that the rviz 2D pose estimate tool is set to publish position estimates in the map frame.

Which frame are you publishing position estimates in? You should make sure that the rviz 2D pose estimate tool is set to publish position estimates in the map frame.

UPDATE

The complaint receiving transform from [/robot_state_publisher] that differed from ROS time by 1407396264.96s suggests that you have some nodes which are using sim time, and some which are not. You absolutely SHOULD NOT have the /use_sim_time parameter set on a real robot.

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