Autonomous Navigation of a Known Map with TurtleBot

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Hello,

I'm following the tutorials on autonomous navigation of a turtlebot:

wiki.ros.org/turtlebot_navigation/Tutorials/Autonomously%20navigate%20in%20a%20known%20map

So, I run these commands on different terminals:

1- roscore

2- roslaunch turtlebot_bringup minimal.launch

3- roslaunch turtlebot_navigation amcl_demo.launch map_file:=/AddressToMap

I receive these messages:

([ WARN] [1405632943.683405903]: Waiting on transform from base_footprint to map to become available before running costmap, tf error: [ INFO] [1405632945.899453434]: No devices connected.... waiting for devices to be connected

4- roslaunch turtlebot_rviz_launchers view_navigation.launch --screen

Instead of TurtleBot a white circle appears in rviz, and there are red error signs beside GlobalStatus and RobotModel

My laptop runs Ubuntu 12.04, and ROS Hydro. No real robot is involved, I'm just trying to test the simulated turtlebot on my laptop.

EDIT: For using the turtlebot in simulation mode, the following link helped to solve my problem:

wiki.ros.org/turtlebot_simulator/Tutorials/hydro/Make%20a%20map%20and%20navigate%20with%20it