frontier_exploration with turtlebot

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I'm trying to get the frontier_exploration package to work with my TurtleBot. But so far it's not working.

The launch file

<launch>
  <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
    <remap from="scan" to="/scan2" />
    <rosparam>
      occ_thresh: 0.25
      odom_frame: odom
      map_update_interval: 5.0
      maxUrange: 6.0
      maxRange: 8.0
      sigma: 0.05
      kernelSize: 1
      lstep: 0.05
      astep: 0.05
      iterations: 5
      lsigma: 0.075
      ogain: 1.0
      lskip: 0
      srr: 0.01
      srt: 0.02
      str: 0.01
      stt: 0.02
      linearUpdate: 0.5
      angularUpdate: 0.436
      temporalUpdate: -1.0
      resampleThreshold: 0.5
      particles: 80
      xmin: -1.0
      ymin: -1.0
      xmax: 1.0
      ymax: 1.0
      delta: 0.05
      llsamplerange: 0.01
      llsamplestep: 0.01
      lasamplerange: 0.005
      lasamplestep: 0.005
      base_frame: base_link
    </rosparam>
  </node>
  <node name="rviz" pkg="rviz" type="rviz">
  </node>

          <include file="$(find turtlebot_navigation)/launch/includes/velocity_smoother.launch.xml"/>
          <include file="$(find turtlebot_navigation)/launch/includes/safety_controller.launch.xml"/>

          <arg name="odom_topic" default="odom" />

   <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
          <rosparam file="$(find turtlebot_navigation)/param/costmap_common_params.yaml" command="load" ns="global_costmap" />
          <rosparam file="$(find turtlebot_navigation)/param/costmap_common_params.yaml" command="load" ns="local_costmap" />
          <rosparam file="$(find turtlebot_navigation)/param/local_costmap_params.yaml" command="load" />
          <rosparam file="$(find turtlebot_navigation)/param/global_costmap_params.yaml" command="load" />
          <rosparam file="$(find turtlebot_navigation)/param/base_local_planner_params.yaml" command="load" />
          <rosparam file="$(find turtlebot_navigation)/param/move_base_params.yaml" command="load" />
          <remap from="cmd_vel" to="navigation_velocity_smoother/raw_cmd_vel"/>
          <remap from="odom" to="$(arg odom_topic)"/>
</node>
</launch>

global_costmap_params.yaml

global_costmap:
   global_frame: /map
   robot_base_frame: /base_footprint
   update_frequency: 3.0
   publish_frequency: 0.0
   static_map: true
   transform_tolerance: 0.5

local_costmap_params.yaml

local_costmap:
   global_frame: /odom
   robot_base_frame: /base_footprint
   update_frequency: 5.0
   publish_frequency: 2.0
   static_map: false
   rolling_window: true
   width: 4.0
   height: 4.0
   resolution: 0.05
   transform_tolerance: 0.5

Errors from the frontier_exploration terminal

[ WARN] [1414574875.215553173]: Please select an initial point for exploration inside the polygon
[ INFO] [1414574876.981956729]: Sending goal
[ INFO] [1414574877.352866124]: Using plugin "static"
[ INFO] [1414574877.621707478]: Requesting the map...
[ INFO] [1414574877.775594588]: Resizing costmap to 576 X 288 at 0.050000 m/pix
[ INFO] [1414574877.847249155]: Received a 576 X 288 map at 0.050000 m/pix
[ INFO] [1414574877.847298258]: Subscribing to updates
[ INFO] [1414574878.016550480]: Using plugin "explore_boundary"
[ INFO] [1414574878.541237670]: Using plugin "sensor"
[ INFO] [1414574878.664303536]:     Subscribed to Topics: /scan2
[ INFO] [1414574879.327905514]: Using plugin "inflation"
[ERROR] [1414574880.852823897]: Exception thrown while processing service call: Lookup would require extrapolation into the past.  Requested time 1414574873.590463123 but the earliest data is at time 1414574878.157772422, when looking up transform from frame [odom] to frame [map]
[ERROR] [1414574880.853237138]: Service call failed: service [/explore_server/explore_costmap/explore_boundary/update_boundary_polygon] responded with an error: Lookup would require extrapolation into the past.  Requested time 1414574873.590463123 but the earliest data is at time 1414574878.157772422, when looking up transform from frame [odom] to frame [map]
[ERROR] [1414574880.853397382]: Failed to set region boundary

Errors from my gmapping launch file terminal

[ WARN] [1414574406.526808975]: Could not transform the global plan to the frame of the controller ...