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I'm guessing you are using this URDF from your other question.

Then, the solution is simple. You don't have a link which is called base_link, only one which is called Base_plate. You need to configure the navigation (move_base, amcl, the different costmaps, etc.) to use you frame Base_plate (or change the link in your URDF).

Check out the Tutorials on the ROS wiki, especially this one about how a usual setup for navigation is with regards to URDF and TF.

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