I am attempting to use the frontierexploration package to have a turtlebot explore a map in simulation. I have a launch file which starts a mapserver, gazebo, movebase for the turtlebot and RViz. This works fine and I can successfully explore the map by tele-operating the turtlebot. However when I attempt to use the frontierexploration package to explore the map the node crashes with errors :-

[ERROR] [1464960560.742352772, 20146.057000000]: None of the 0 first of 0 (0) points of the global plan were in the local costmap and free
[ WARN] [1464960567.150855773, 20152.467000000]: Clearing costmap to unstuck robot (3.000000m).
[ WARN] [1464960567.551669761, 20152.867000000]: Rotate recovery behavior started.
[ WARN] [1464960567.951526869, 20153.267000000]: Clearing costmap to unstuck robot (1.840000m).
[ WARN] [1464960568.351349369, 20153.667000000]: Rotate recovery behavior started.
[ERROR] [1464960568.751476620, 20154.067000000]: Aborting because a valid plan could not be found. Even after executing all recovery behaviors
[ERROR] [1464960568.751631322, 20154.067000000]: Failed to move

Looking at the Local Map->Cost Cloud for the DWA Planner in RViz it looks as if this is being populated incorrectly (see the multicoloured square around the turtlebot). Could this be the source of the problem causing the frontier_exploration node to crash?

frontier_agent.launch

<launch>
  <arg name="map_file" value="$(env TURTLEBOT_GAZEBO_MAP_FILE)"/>

  <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />
  <node name="map_to_ground_truth" pkg="tf" type="static_transform_publisher" args="0 0 0 0 0 0 1 map ground_truth 100"/>

  <include file="$(find turtlebot_gazebo)/launch/turtlebot_world.launch"/>
  <include file="$(find openni_launch)/launch/openni.launch">
    <arg name="load_driver"                     value="false"/>
    <arg name="depth_registration"              value="true"/>
    <arg name="publish_tf"                      value="false" />
    <arg name="rgb_processing"                  value="true"/>
    <arg name="depth_processing"                value="true"/>
    <arg name="depth_registered_processing"     value="true"/>
    <arg name="sw_registered_processing"        value="true" />
    <arg name="ir_processing"                   value="false"/>
    <arg name="disparity_processing"            value="false"/>
    <arg name="disparity_registered_processing" value="false"/>
    <arg name="hw_registered_processing"        value="false" />
  </include>
  <include file="$(find ar_track_alvar)/launch/pr2_indiv.launch">
    <arg name="marker_size" value="50.0" />
    <arg name="max_new_marker_error" default="0.00001" />
    <arg name="max_track_error" default="0.00001" />
    <arg name="cam_image_topic" value="/camera/depth_registered/points" />
    <arg name="cam_info_topic" value="/camera/rgb/camera_info" />
    <arg name="output_frame" value="/map" />
  </include>

  <node name="ground_truth" pkg="turtlebot_rl_agent" type="ground_truth"/>
  <node name="ground_truth_tf" pkg="turtlebot_rl_agent" type="ground_truth_tf"/>

  <include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml">
    <arg name="odom_frame_id"   value="ground_truth"/>
    <arg name="base_frame_id"   value="base_footprint"/>
    <arg name="global_frame_id" value="map"/>
    <arg name="odom_topic" value="ground_truth" />
    <arg name="laser_topic" value="scan" />
  </include>
  <include file="$(find turtlebot_rviz_launchers)/launch/view_navigation.launch"/>

  <node name="frontier_node" pkg="turtlebot_rl_agent" type="frontier_node" output="screen"/>
  <include file="$(find frontier_exploration)/launch/global_map.launch"/>
  <node name="rl_eval_node" pkg="turtlebot_rl_agent" type="rl_eval_node" output="screen"/>
</launch>

global_map.launch

<launch>

    <arg name="sensor_range" default="5.0"/>

    <node pkg="frontier_exploration" type="explore_server" name="explore_server" output="screen" >

        <param name="frequency" type="double" value="0.0"/>
        <param name="goal_aliasing" type="double" value="$(arg sensor_range)"/>

        #All standard costmap_2d parameters as in move_base, other than BoundedExploreLayer
        <rosparam ns="explore_costmap" subst_value="true">
            robot_radius: 0.20
            footprint: [[0.2, 0.0], [0.0, 0.2], [0.0, -0.2], [-0.2, 0.0]]

            transform_tolerance: 0.5
            update_frequency: 10.0
            publish_frequency: 10.0

            #must match incoming static map
            global_frame: map
            robot_base_frame: base_footprint
            resolution: 0.05

            rolling_window: false
            track_unknown_space: true

            plugins:

                - {name: static,           type: "costmap_2d::StaticLayer"}
                - {name: explore_boundary, type: "frontier_exploration::BoundedExploreLayer"}
                #Can disable sensor layer if gmapping is fast enough to update scans
                - {name: sensor,           type: "costmap_2d::ObstacleLayer"}
                - {name: inflation,        type: "costmap_2d::InflationLayer"}

            static:
                #Can pull data from gmapping, map_server or a non-rolling costmap
                map_topic: /map
                # map_topic: move_base/global_costmap/costmap
                subscribe_to_updates: true

            explore_boundary:
                resize_to_boundary: false
                frontier_travel_point: middle
                #set to false for gmapping, true if re-exploring a known area
                explore_clear_space: false

            sensor:
                observation_sources: laser
                laser: {data_type: LaserScan, clearing: true, marking: true, topic: scan, inf_is_valid: true, raytrace_range: $(arg sensor_range), obstacle_range: $(arg sensor_range)}

            inflation:
                inflation_radius: 0.15
      </rosparam>
    </node>

</launch>