Waiting on transform from /base_footprint to /map to become available before running costmap, tf error: [closed]

edit

I want to auto navigate my P3AT.

Using ROS-Fuertr (on PC1: UBUNTU 12.04 LTS) & USARSim (on PC2: windows7 ).

I have my launch file move_base.launch,

<launch>

  <master auto="start"/>
  <!-- Run the map server -->
  <node name="map_server" pkg="map_server" type="map_server" args="$(find my_robot_name_2dnav)/map/map.pgm 0.05"/>

  <!--- You can see original move_base.launch -->
  <!--- Run AMCL -->
  <include file="$(find usarsim_inf)/launch/usarsim.launch"/>
  <include file="$(find amcl)/examples/amcl_omni.launch" />

  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find my_robot_name_2dnav)/launch/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find my_robot_name_2dnav)/launch/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find my_robot_name_2dnav)/launch/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find my_robot_name_2dnav)/launch/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find my_robot_name_2dnav)/launch/move_base_params.yaml" command="load" />
    </node>

</launch>

but when i try,

$ roslaunch my_robot_name_2dnav move_base.launch

i am getting an warning message,

[ WARN] [1413488778.937642524]: Waiting on transform from /base_footprint to /map to become available before running costmap, tf error:

see here the full terminal output

please help to improve this scenario.