TF transformation with move_base

edit

I am trying to run the code from Learning ROS for robotic programming (code) .

I am trying to run the code to use the navigation stack in chapter 9.

I first run,

roslaunch chapter9_tutorials chapter9_configuration_gazebo.launch

and I get this error, but it still brings up Rviz and gazebo

WARNING: [/home/nathaniel/Desktop/catkin_ws/src/Learning_ROS_for_Robotics_Programming_2nd_edition/chapter9_tutorials/launch/chapter9_configuration_gazebo.launch] unknown <include> attribute 'args'

I then run in another terminal this

roslaunch chapter9_tutorials move_base.launch

and I get the following output and I cannot set nav_goal

[ INFO] [1452891660.578951021]: Requesting the map...
[ WARN] [1452891660.579428957]: Request for map failed; trying again...
[ INFO] [1452891660.725584980]: Read a 4000 X 4000 map @ 0.050 m/cell
[ INFO] [1452891661.092120645]: Sending map
[ INFO] [1452891661.116882014]: Received a 4000 X 4000 map @ 0.050 m/pix

[ INFO] [1452891661.287410863]: Initializing likelihood field model; this can take some time on large maps...
[ INFO] [1452891661.415541021]: Done initializing likelihood field model.
[ WARN] [1452891665.706081307]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.101058 timeout was 0.1.
[ WARN] [1452891670.765391786]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.100715 timeout was 0.1.
[ WARN] [1452891675.810640770]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.101084 timeout was 0.1.
[ WARN] [1452891676.518616416]: No laser scan received (and thus no pose updates have been published) for 1452891676.518504 seconds.  Verify that data is being published on the /scan topic.
[ WARN] [1452891680.863702773]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.101096 timeout was 0.1.
[ WARN] [1452891685.922265047]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.100973 timeout was 0.1.
[ WARN] [1452891690.972636769]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.100894 timeout was 0.1.
[ WARN] [1452891691.518436760]: No laser scan received (and thus no pose updates have been published) for 1452891691.518333 seconds.  Verify that data is being published on the /scan topic.
[ WARN] [1452891696.022488241]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.100835 timeout was 0.1.
[ WARN] [1452891701.072917128]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.100919 timeout was 0.1.
[ WARN] [1452891706.131551787]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.101107 timeout was 0.1.
[ WARN] [1452891706.517966566]: No laser scan received (and thus no pose updates have been published) for 1452891706.517833 seconds.  Verify that data is being published on ...