Configuration of the Navigation Stack on a Robot-Topic missing

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Hello everyone, I am trying to follow the Configuration of the Navigation Stack on a Robot and at the end I didn't have what I am suppose to have. http://wiki.ros.org/navigation/Tutori...

When I try to configure my RViz for some feature I do not have the right topic, their are missing, I mean their are not selectable in the list of topic. it concern : Robot Footprint Obstacles Inflated Obstacles Unknown Space Global Plan Local Plan Planner Plan

Using rostopic list I find that /move_base/local_costmap/footprint is publish but I ca not select it in the topic list for Robot Footprint.

It is a part of an assignment whose is the description :

Navigate the map using rviz and path planning algorithms

 Copy the FirstnameLastnameSlamSim.rviz to FirstnameLastnamePlanSim.rviz (for example, by using linux's "cp" command or ROS's roscp command)
    Create a FirstnameLastnamePlanSim.launch file to:
        Set global parameter "use_sim_time" to "true"
        Run stageros node with worlds/test.world configuration file from the tut_ibx0020 package (simulation) and the following topic remappings for stageros topics:
            Robot odometry should be published to "/odometry"
            Ideal odometry should be published to "/ground_truth"
            Laser should be published to "/laser"
        Run rviz node from rviz package and load FirstnameLastnameSlamSim.rviz display profile.
        Run map_server node from the map_server package with proper parameters to load previously created FirstnameLastnameSim.pgm and FirstnameLastnameSim.yaml files as a map
        Run amcl node from the amcl package to localize your robot using the map with proper parameters and topic remappings, if needed.
    Run move_base node from the move_base package to Navigate your robot by sending commands to stageros using localization from amcl and map from map_server.
        Set proper parameters and topic remappings, if needed. Create and load parameter files (see the RobotSetup for the Navigation stack for details). Robots' base frame id is "base_link", while laser's frame id is "base_laser_link". You global frame id should be "map", not "odom".
            costmap_common_params.yaml
-Set proper topic name for laser, and put correct frame_id to laser_scan_sensor's sensor_frame.
-Set "footprint" (four points outlining shape of the robot - cube with a size of 0.5) or "robot_radius" (square can also be approximated by a circle).
            local_costmap_params.yaml
            global_costmap_params.yaml
            base_local_planner_params.yaml
                Keep in mind, that the robot in simulation is differential-drive robot

And this is my launch file :

<launch>
    <param name="use_sim_time" value="true"  type="boolean"/>
    <node name="stageros" pkg="stage_ros" type="stageros"
    args=" --dataPath  $(find tut_ibx0020)/worlds/  --configfile $(find tut_ibx0020)/worlds/test.world " >
    <remap from="odom" to="odometry" />
    <remap from="base_pose_ground_truth" to="ground_truth" />
    <remap from="base_scan" to="laser" />
   </node>
 <node name="slam" pkg="gmapping" type="slam_gmapping" args="scan:=/laser">
   <param name="xmin" value="0" />
   <param name="xmax" value="30.0" />
   <param name="ymin" value="0" />
   <param name="ymax" value="30.0" />
   <param name="delta" value="0.05" />
 </node>
<node name="rviz" pkg="rviz" type="rviz" args=" --display-config $(find ibx0020_control)/QuentinMOUTYPlanSim.rviz" />  
  <!-- Run the map server -->
  <node name="map_server" pkg="map_server" type="map_server" args="$(find ibx0020_control)/QuentinMOUTYSim.yaml ...