robot setup tf setup for navigation [closed]

edit

here are the transforms in the launch file that i got from the dukedusty2 tutorial

there seems to be no link between map and odometry and odometry and base_link

<node pkg="tf" type="static_transform_publisher" name="temp" args="0 0 0 0 0 0 1 map base_link 50"/>

<!--Base platform is 13cm off of ground!-->
<node pkg="tf" type="static_transform_publisher" name="ground_static_tf_publisher" args="0 0 0.13 0 0 0 1 base_link base_platform 50"/>

<node pkg="tf" type="static_transform_publisher" name="hokuyo_static_tf_publisher"
    args="0.14 0 0.06 0 0 0 1 base_platform base_scan 50"/>

this is what is says after i roswtf

i am using http://www.princeton.edu/~ctralie/Projects/DukeDusty2/Tutorial/#navigation

Loaded plugin tf.tfwtf
Package: createbot
[rospack] warning: ignoring duplicate "cpp" tag in export block
[rospack] warning: ignoring duplicate "cpp" tag in export block

Static checks summary:

Found 1 warning(s).
Warnings are things that may be just fine, but are sometimes at fault

WARNING The following packages have msg/srv-related cflags exports that are no longer necessary
    <export>
        <cpp cflags="..."
    </export>:
 * dynamic_reconfigure: -I${prefix}/msg/cpp -I${prefix}/srv/cpp
 * irobot_create_2_1: -I${prefix}/msg/cpp -I${prefix}/srv/cpp
 * hrl_rfid: -I${prefix}/msg/cpp -I${prefix}/srv/cpp
 * driver_base: -I${prefix}/msg/cpp
 * irobot_create_rustic: -I${prefix}/msg/cpp


Found 1 error(s).

ERROR The following packages have rpath issues in manifest.xml:
 * createbot: found flag "-L/opt/ros/diamondback/stacks/irobot_create_rustic/lib", but no matching "-Wl,-rpath,/opt/ros/diamondback/stacks/irobot_create_rustic/lib"
 * irobot_create_rustic: found flag "-L/opt/ros/diamondback/stacks/irobot_create_rustic/lib", but no matching "-Wl,-rpath,/opt/ros/diamondback/stacks/irobot_create_rustic/lib"

================================================================================
Beginning tests of your ROS graph. These may take awhile...
analyzing graph...
... done analyzing graph
running graph rules...
... done running graph rules
running tf checks, this will take a second...
... tf checks complete

Online checks summary:

Found 2 warning(s).
Warnings are things that may be just fine, but are sometimes at fault

WARNING The following node subscriptions are unconnected:
 * /amcl:
   * /initialpose
 * /move_base:
   * /move_base_simple/goal
   * /move_base/cancel

WARNING The following nodes are unexpectedly connected:
 * /temp->/rosout (/rosout)
 * /move_base->/rosout (/rosout)
 * /hokuyo_static_tf_publisher->/rosout (/rosout)
 * /amcl->/rosout (/rosout)
 * /base_link->/rosout (/rosout)
 * /map_server->/rosout (/rosout)
 * /ground_static_tf_publisher->/rosout (/rosout)
 * /scan->/rosout (/rosout)