I will list all my steps clearly, including my git repo. If anyone needs anything, feel free to tell me.

1)Run RosAria on the robot pc. Connects well, publishes odom->base_link transforms well and good.

2) On the piggyback laptop, roslaunch freenectlaunch freenect.launch depthregistration:=true. For my kinect, of course

3)rosrun depthimagetolaserscan depthimagetolaserscan image:=/camera/depthregistered/imageraw. For fake laser data

4)roslaunch rtabmapros rtabmap.launch rtabmapargs:="--delete-dbs-on-start" rviz:=true rtabviz:=false, gives me map->odom transform.

5) Run teleop in the remote pc. I generate a 2-d map in rtabmap, save it on map_server

6)Roslaunch p3dxnavigation movebase_rosaria.launch. open rviz, 2d point estimate works well. Not perfect, but not too bad either.

7)Set a goal using 2d Nav goal. Here i get all sorts of errors as follows

[ERROR] [1529929504.112153804]: Aborting because a valid plan could not be found. Even after executing all recovery behaviors

[ WARN] [1529929504.112746594]: Map update loop missed its desired rate of 2.5000Hz... the loop actually took 0.5540 seconds

[ WARN] [1529929514.661682065]: Costmap2DROS transform timeout. Current time: 1529929514.6616, global_pose stamp: 1529929514.3319, tolerance: 0.3000

[ WARN] [1529929514.707078373]: Could not get robot pose, cancelling reconfiguration.

If anyone can help me it would be a godsend.

Here is the link to my github repo.

https://github.com/RiddhimanRaut/NewRepo