Hi everyone, I am a rookie to implement Turtlebot on ROS. I want to use navigation package to enable Turtlebot.My ROS version is KINETIC.

First, I use realsense zr300 camera to create a map and use mapsever to save the map. I have mymap.pgm and my_map.yaml file.

Second, I launch the amcldemo.launch from Turtlebotgazebo and there are some errors and warnings happen. I tried to implement this

roslaunch turtlebot_bringup minimal.launch
roslaunch turtlebot_navigation amcl_demo.launch map_file:=/tmp/my_map.yaml

or

roslaunch turtlebot_gazebo amcl_demo.launch map_file:=/tmp/my_map.yaml

The error and warning like this:

[mapserver-2] process has died [pid 23511, exit code 255, cmd /opt/ros/kinetic/lib/mapserver/mapndserver /tmp/mymap.yaml _name:=mapserver _log:=/home/wilson/.ros/log/867594de-4a99-11e7-8283-02095c506664/mapserver-2.log]. log file: /home/wilson/.ros/log/867594de-4a99-11e7-8283-02095c506664/map_server-2*.log

and

[ WARN] [1496740896.137411129]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.10146 timeout was 0.1.

Can Anyone help me to solve this problem?

Many Thanks

roslaunch turtlebot_bringup minimal.launch
roslaunch turtlebot_navigation amcl_demo.launch map_file:=/tmp/my_map.yaml

roslaunch turtlebot_gazebo amcl_demo.launch map_file:=/tmp/my_map.yaml