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So I figured out why I was getting the "Waiting on transform from /robot_0/base_link to /map to become available before running costmap, tf error:"..... It was because I was launching move_base on a robot_0 namespace. However in my world file, I only had one robot and therefore topics were being published as /odom rather than /robot_0/odom, which is the case for having several robots.

Now, does anyone know how to get move_base to abort a goal beyond x secs, if it is just oscillating in place. I set the oscillation_timeout to 20.0. Even then the robot does not abort its goal and keeps oscillating in place? Thanks!