Turtlebot navigation tf error

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When running the Turtlebot navigation demo I often get the following error:

Waiting on transform from /base_link to /map to become available before running costmap, tf error

Which occurs repeatedly until I quit. On about 20% of attempts the navigation starts normally. Any ideas on what might be causing this? One thing which I'm doing differently is using a map with resolution of 0.02, so perhaps it could be something related to the map being larger than expected.

tf_monitor output when the problem occurs is as follows:

RESULTS: for all Frames

Frames:
Frame: /base_footprint published by /robot_pose_ekf Average Delay: 0.0555048 Max Delay: 0.0800429
Frame: /base_link published by /robot_state_publisher Average Delay: -0.484329 Max Delay: 0
Frame: /front_wheel_link published by /robot_state_publisher Average Delay: -0.484305 Max Delay: 0
Frame: /gyro_link published by /robot_state_publisher Average Delay: -0.484302 Max Delay: 0
Frame: /kinect_depth_frame published by /robot_state_publisher Average Delay: -0.4843 Max Delay: 0
Frame: /kinect_depth_optical_frame published by /robot_state_publisher Average Delay: -0.484297 Max Delay: 0
Frame: /kinect_link published by /robot_state_publisher Average Delay: -0.484324 Max Delay: 0
Frame: /kinect_rgb_frame published by /robot_state_publisher Average Delay: -0.484294 Max Delay: 0
Frame: /kinect_rgb_optical_frame published by /robot_state_publisher Average Delay: -0.484291 Max Delay: 0
Frame: /laser published by /robot_state_publisher Average Delay: -0.484289 Max Delay: 0
Frame: /left_cliff_sensor_link published by /robot_state_publisher Average Delay: -0.484321 Max Delay: 0
Frame: /left_wheel_link published by /robot_state_publisher Average Delay: -0.950178 Max Delay: 0
Frame: /leftfront_cliff_sensor_link published by /robot_state_publisher Average Delay: -0.484319 Max Delay: 0
Frame: /plate_0_link published by /robot_state_publisher Average Delay: -0.484286 Max Delay: 0
Frame: /plate_1_link published by /robot_state_publisher Average Delay: -0.484284 Max Delay: 0
Frame: /plate_2_link published by /robot_state_publisher Average Delay: -0.484282 Max Delay: 0
Frame: /plate_3_link published by /robot_state_publisher Average Delay: -0.484279 Max Delay: 0
Frame: /rear_wheel_link published by /robot_state_publisher Average Delay: -0.484277 Max Delay: 0
Frame: /right_cliff_sensor_link published by /robot_state_publisher Average Delay: -0.484313 Max Delay: 0
Frame: /right_wheel_link published by /robot_state_publisher Average Delay: -0.950172 Max Delay: 0
Frame: /rightfront_cliff_sensor_link published by /robot_state_publisher Average Delay: -0.48431 Max Delay: 0
Frame: /spacer_0_link published by /robot_state_publisher Average Delay: -0.484274 Max Delay: 0
Frame: /spacer_1_link published by /robot_state_publisher Average Delay: -0.484272 Max Delay: 0
Frame: /spacer_2_link published by /robot_state_publisher Average Delay: -0.484269 Max Delay: 0
Frame: /spacer_3_link published by /robot_state_publisher Average Delay: -0.484267 Max Delay: 0
Frame: /standoff_2in_0_link published by /robot_state_publisher Average Delay: -0.484265 Max Delay: 0
Frame: /standoff_2in_1_link published by /robot_state_publisher Average Delay: -0.484262 Max Delay: 0
Frame: /standoff_2in_2_link published by /robot_state_publisher Average Delay: -0.484259 Max Delay: 0
Frame: /standoff_2in_3_link published by /robot_state_publisher Average Delay: -0.484256 Max Delay: 0
Frame: /standoff_2in_4_link published by /robot_state_publisher Average Delay: -0.484254 Max Delay: 0
Frame: /standoff_2in_5_link published by /robot_state_publisher Average Delay: -0.484251 Max Delay: 0
Frame: /standoff_2in_6_link published by /robot_state_publisher Average Delay: -0.484247 Max Delay: 0
Frame: /standoff_2in_7_link published by /robot_state_publisher Average Delay: -0.484243 Max Delay: 0
Frame: /standoff_8in_0_link published by /robot_state_publisher Average Delay: -0.48424 ...