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Frames gets defined in a hierarchy like parent_frame/child_frame. If a frame do not have any parent, it is defined as /frame. First warning is :

 Message from [/hokuyo] has a non-fully-qualified  frame_id [laser]. Resolved locally to [/laser].

It is advisable to fully specify the hierarchy when using frames as using just name could lead to ambiguity in choosing the correct frame. This will definitely cause problem in multi-robot scenario. About following errors:

[ERROR][1340123076.274228430]: Trajectory Server: Transform from /map to /base_link failed: Unable to lookup transform, cache is empty, when looking up transform from frame [/base_link] to frame [/map] [ERROR] [1340123076.523439543]: Trajectory Server: Transform from /map to /base_link failed: Unable to lookup transform, cache is empty, when looking up transform from frame [/base_link] to frame [/map]

You are not publishing tf for: map --> base_link

Frames gets defined in a hierarchy like parent_frame/child_frame. If a frame do not have any parent, it is defined as /frame. First warning is :

 Message from [/hokuyo] has a non-fully-qualified  frame_id [laser]. Resolved locally to [/laser].

It is advisable to fully specify the hierarchy when using frames as using just name could lead to ambiguity in choosing the correct frame. This will definitely cause problem in multi-robot scenario. About following errors:

[ERROR][1340123076.274228430]: Trajectory Server: Transform from /map to /base_link failed: Unable to lookup transform, cache is empty, when looking up transform from frame [/base_link] to frame [/map] [ERROR] [1340123076.523439543]: Trajectory Server: Transform from /map to /base_link failed: Unable to lookup transform, cache is empty, when looking up transform from frame [/base_link] to frame [/map]

You are not publishing tf for: map --> base_link