Troubles with autonomouse mapping with nav2d and turtlebot 2 - StartExploration Error

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Hi,

I just started with ros and don't have much experience. I already installed the the nav2d package.

Like in the tutorial described, I started the command rosservice call /StartMapping 3 and the robot drives 1 meter forward and makes a 180 turn. I don't know if that is correct. Then I start rosservice call /StartExploration 2 and then the following error is given:

Failed to compute odometry pose, skipping scan ("base_laser_link" passed to lookupTransform argument source_frame does not exist. )
[ERROR] [1468626044.630942697]: You must specify at least three points for the robot footprint, reverting to previous footprint.
[ERROR] [1468626142.281016628]: Is the robot out of the map?
[ERROR] [1468626142.281070197]: Exploration failed, could not get ent position.

In my tf tree I can't find the base_laser_link.

You can find my rqt_graph here.

I start my TurtleBot with minimal.launch and I also start my 3D sensor. After that, I start the following launch file. My tutorial3 launch file is:

<param name="use_sim_time" value="false" />
<rosparam file="$(find nav2d_tutorials)/param/ros.yaml"/>

<!-- Start the Operator to control the simulated robot -->
<node name="Operator" pkg="nav2d_operator" type="operator" >
    <!-- <remap from="scan" to="base_scan"/> -->
            <remap from="cmd_vel" to="mobile_base/commands/velocity"/>
    <rosparam file="$(find nav2d_tutorials)/param/operator.yaml"/>
    <rosparam file="$(find nav2d_tutorials)/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 nav2d_tutorials)/param/mapper.yaml"/>
</node>

<!-- Start the Navigator to move the robot autonomously -->
<node name="Navigator" pkg="nav2d_navigator" type="navigator">
    <rosparam file="$(find nav2d_tutorials)/param/navigator.yaml"/>
</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" />

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

There is also a problem with the rviz virtualization. currently it looks like .

I hope somebody is able to help me because other questions and answers in this forum didn't help me.

Edit 25. July 16: The new (error) messages are:

[ERROR] [1469487068.001244894]: You must specify at least three points for the robot footprint, reverting to previous footprint.
[ INFO] [1469487068.047285205]: Will publish desired direction on 'route' and control direction on 'desired'.
[ INFO] [1469487068.061046721]: Initializing LUT...
[ INFO] [1469487068.063258093]: ...done!
[ WARN] [1469487068.430814767]: The scan observation buffer has not been updated for 0.47 seconds, and it should be updated every 0.40 seconds.

The new tf-tree looks like this. The map and offset frame disappeared.
Here you can also find my ros.yaml file:

### TF frames #############################################
laser_frame: laser #base_laser_link
robot_frame: base_link
odometry_frame: odom
offset_frame: offset
map_frame: map
### ROS topics ############################################
map_topic: map
laser_topic: scan
### ROS services ##########################################
map_service: static_map

Edit 26. July 2016
In my config files aren't configuration regarding the footprint. The footprint error is really strange because it doen't appear at the first launch of minimal.launch, 3dsensor.launch and tutorial3.launch. At ... (more)