global costmap position

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Hi,

I'm new to ROS and I'm trying to get my robot simulation in gazebo work with the navigation stack. I've followed the navigation stack tutorials but when I set a goal position in the rviz, I get the error:

[ WARN] [1405397031.898957310, 340.132000000]: The robot's start position is off the global costmap. Planning will always fail, are you sure the robot has been properly localized?

Here are my navigation stack configurations:

costmap_common_params:

obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[-0.2,-0.2],[-0.2,0.2], [0.2, 0.2], [0.2,-0.2]]
#robot_radius: 0.20
inflation_radius: 0.55

observation_sources: laser_scan_sensor

laser_scan_sensor: {sensor_frame: lms100, data_type: LaserScan, topic: /p3dx/laser/scan, marking: true, clearing: true}

global_costmap_params:

global_frame: /map
robot_base_frame: base_link
update_frequency: 5.0
static_map: true

local_costmap_params:

global_frame: odom
robot_base_frame: base_link
update_frequency: 5.0
publish_frequency: 2.0
static_map: false
rolling_window: true
width: 6.0
height: 6.0
resolution: 0.05


transform_tolerance: 0.8 # seconds

base_local_planner_params:

TrajectoryPlannerROS:
  max_vel_x: 0.45
  min_vel_x: 0.1
  max_rotational_vel: 1.0
  min_in_place_rotational_vel: 0.4

  acc_lim_th: 3.2
  acc_lim_x: 2.5
  acc_lim_y: 2.5

  holonomic_robot: false

move_base.launch:

<launch>
  <master auto="start"/>

  <!-- Run the map server -->
<!-- <node name="map_server" pkg="map_server" type="map_server" args="$(find p3dx_description)/launch/map.yaml my_map" output="screen"/>   -->

  <!--- Run AMCL -->

  <include file="$(find amcl)/examples/amcl_omni.launch" />
 <!-- <include file="$(find erratic_navigation)/navigation_slam/slam_gmapping.launch" /> -->

  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find p3dx_description)/launch/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find p3dx_description)/launch/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find p3dx_description)/launch/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find p3dx_description)/launch/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find p3dx_description)/launch/base_local_planner_params.yaml" command="load" />
  </node>
</launch>

gazebo.launch which contains gmapping:

<launch>

    <!-- these are the arguments you can pass this launch file, for example 
        paused:=true -->
    <arg name="paused" default="false" />
    <arg name="use_sim_time" default="true" />
    <arg name="gui" default="true" />
    <arg name="headless" default="false" />
    <arg name="debug" default="false" />

    <!-- We resume the logic in empty_world.launch, changing only the name of 
        the world to be launched -->
    <include file="$(find gazebo_ros)/launch/empty_world.launch">
        <arg name="world_name" value="$(find p3dx_gazebo)/worlds/p3dx.world" />
        <arg name="debug" value="$(arg debug)" />
        <arg name="gui" value="$(arg gui)" />
        <arg name="paused" value="$(arg paused)" />
        <arg name="use_sim_time" value="$(arg use_sim_time)" />
        <arg name="headless" value="$(arg headless)" />

    </include>

    <!-- Load the URDF into the ROS Parameter Server -->
    <param name="robot_description"
        command="$(find xacro)/xacro.py '$(find p3dx_description)/urdf/pioneer3dx.xacro'" />

    <!-- Run a python script to the send a service call to gazebo_ros to spawn 
        a URDF robot -->
    <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model"
        respawn="false" output="screen" args="-urdf -model p3dx -param robot_description" />

    <!-- ros_control p3rd launch file -->
    <!-- <include file="$(find p3dx_control)/launch/control.launch" /> -->


<!-- kasra -->

    <node pkg="p3dx_gazebo" name="mimic_cmd_vel" type="mimic_cmd_vel"  />

      <!-- convert joint states to TF transforms for rviz, etc -->
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
    respawn="false" output="screen">
    <remap from="/joint_states" to="/p3dx/joint_states" />
  </node>
  <node ...