Unable to move robot using 2d nav goal

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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 freenect_launch freenect.launch depth_registration:=true. For my kinect, of course

3)rosrun depthimage_to_laserscan depthimage_to_laserscan image:=/camera/depth_registered/image_raw. For fake laser data

4)roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--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 p3dx_navigation move_base_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

If anyone can help me it would be a godsend.

Here is the link to my github repo.

https://github.com/RiddhimanRaut/NewRepo