nav2d autonomouse exploration

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Hi,

I installed and tried nav2d navigation package exploration feature, with a real robot setup (kobuki base, urg-04lx) as per ros wiki instructions. i modified the tutorial3 launch and param files, as shown below (just copied the launch file and .yaml files into my catkin workspace so i can edit them). I received a map and other topics in RVIZ. since i dont have a joy stick i used rosservice call /StartMapping 3 and rosservice call /StartExploration 2 as per tutorials instructions i got nothing but a "response: 0" on my terminal window.

LAUNCH File:

<launch>

<!-- Some general parameters -->
<param name="use_sim_time" value="false" />
<rosparam file="$(find navigation)/param/ros.yaml"/>

<!-- Start Stage simulator with a given environment
<node name="Stage" pkg="stage_ros" type="stageros" args="$(find nav2d_tutorials)/world/tutorial.world">
    <param name="base_watchdog_timeout" value="0" />
</node> -->

<!-- Start the Operator to control the simulated robot -->
<node name="Operator" pkg="nav2d_operator" type="operator" >
    <remap from="scan" to="base_scan"/>
    <rosparam file="$(find navigation)/param/operator.yaml"/>
    <rosparam file="$(find navigation)/param/costmap.yaml" ns="local_map" />
</node>

<!-- Start Mapper to genreate map from laser scans -->
<node name="Mapper" pkg="nav2d_karto" type="mapper">
    <remap from="scan" to="base_scan"/>
    <rosparam file="$(find navigation)/param/mapper.yaml"/>
</node>

<!-- Start the Navigator to move the robot autonomously -->
<node name="Navigator" pkg="nav2d_navigator" type="navigator">
    <rosparam file="$(find navigation)/param/navigator.yaml"/>
            <!-- <remap from="/cmd_vel" to="/mobile_base/commands/velocity" /> -->
</node>

<node name="GetMap" pkg="nav2d_navigator" type="get_map_client" />
<node name="Explore" pkg="nav2d_navigator" type="explore_client" />
<node name="SetGoal" pkg="nav2d_navigator" type="set_goal_client" />

<!-- Start particle filter to track the robot's position 
<node name="SelfLocalizer" pkg="nav2d_localizer" type="localizer">
    <remap from="scan" to="base_scan"/>
    <param name="min_particles" type="int" value="5000"/>
    <param name="max_particles" type="int" value="20000"/>
</node> -->

<!-- Start the joystick-driver and remote-controller for operation
<node name="Joystick" pkg="joy" type="joy_node" />
<node name="Remote" pkg="nav2d_remote" type="remote_joy" /> -->

<!-- RVIZ to view the visualization -->
<node name="RVIZ" pkg="rviz" type="rviz" args=" -d $(find nav2d_tutorials)/param/tutorial3.rviz" />

</launch>

when i tried to launch the SelfLocalizer in my launch file, it gave me an error saying: ERROR: cannot launch node of type [nav2d_localizer/localizer]: can't locate node [localizer] in package [nav2d_localizer]

Another issue, i tried to remap /cmd_vel to kobuki's velocity topic but i received an error, [MD5] topic format mismatch.

any help, suggestions are greately appreciated. Param files (.yaml) are also available.

UPDATE 1:

Here is the rqt_dot file to download.

tf_tree:

rqt_graph:

it also takes like 20 seconds or so before the topics in RVIZ receive information and go green.

UPDATE 2: Parameters list: PARAMETERS

 * /Mapper/LoopSearchMaximumDistance: 10.0
 * /Mapper/MinimumTravelDistance: 1.0
 * /Mapper/MinimumTravelHeading: 0.52
 * /Mapper/grid_resolution: 0.05
 * /Mapper/map_update_rate: 5
 * /Mapper/max_covariance: 0.01
 * /Mapper/max_particles: 10000
 * /Mapper/min_map_size: 20
 * /Mapper/min_particles: 2500
 * /Mapper/publish_pose_graph: True
 * /Mapper/range_threshold: 4.0
 * /Mapper/transform_publish_period: 0.1
 * /Navigator/exploration_goal_distance: 0.5
 * /Navigator/map_inflation_radius: 0.25
 * /Navigator/min_target_area_size: 1.0
 * /Navigator/navigation_goal_angle: 1.0
 * /Navigator/navigation_goal_distance: 0.5
 * /Navigator/navigation_homing_distance: 0.5
 * /Navigator/robot_radius: 0 ...