Navigation map_server, amcl, move base

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Hello every one, I am working on a project where I used different node to move. I follow this tutorial first : http://wiki.ros.org/navigation/Tutori... Then : http://wiki.ros.org/navigation/Tutori...

I modified a bit the tutorial file for my need so I have this : http://www.fichier-zip.com/2015/11/13...

My problem is : my local map is not what it should be. I have a whole map, well I should only have the result from my laser which is not the case. My second problem is that my robot don't go where I ask him to go sometime it just goes in one direction without following the path and sometime I have a error message in RViz for path feature : For frame []: Frame [] does not exist

And this is the result : https://www.youtube.com/watch?v=cetai...

EDIT: It was the resulst I was looking for but finally I found my mistake. It was in local_costmap where global fram should be map and not /map