Strange behavior between move_base Navigation Stack and Rviz

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This is my graduation project from college and I can't figure out the problem. I have an environment build specifically for this project and build a map of it with hector SLAM. The goal is for the Mobile robot moving around the static map for specific goal set by Rviz.

UPDATE THE OLD 2 BEHAVIORS ARE NOT HAPPENING ANYMORE: I ADJUSTED LINOROBOT COSTMAPS TO WORK FOR ME AND IT FIXED THOSE 2 ERRORS. HOWEVER, THIS SOLUTION INTRODUCED:

DWA planner failed to produce path

Off Map 1.098, -0.050

Old behaviors:

Rviz behavior Video: Google drive Rviz localization video

Rviz behavior when trying to estimate pose: Google drive estimate pose behavior NOTE: the robot was not in the designed environment when taking this video, this video is just for demonstration

The errors I'm getting: UPDATED

roswtf:

   WARNING The following node subscriptions are unconnected:
 * /amcl:
   * /tf_static
 * /rviz_1542954558890249147:
   * /move_base/TrajectoryPlannerROS/global_plan
   * /move_base/NavfnROS/plan
   * /tf_static
   * /map_updates
   * /move_base/TrajectoryPlannerROS/local_plan
 * /rqt_gui_py_node_27505:
   * /statistics
 * /move_base:
   * /tf_static
   * /move_base/cancel

WARNING Received out-of-date/future transforms:
 * receiving transform from [/amcl] that differed from ROS time by 1.176933497s


Found 1 error(s).

ERROR The following nodes should be connected but aren't:
 * /move_base->/move_base (/move_base/global_costmap/footprint)
 * /move_base->/move_base (/move_base/local_costmap/footprint)

AMCL warning: [ WARN] [1542907954.448988739]: Frame_id of map received:'/odom' doesn't match global_frame_id:'map'. This could cause issues with reading published topics FIXED BY MAKING MAP_SERVER FRAME ID TO BE MAP

Rviz Global option's fixed frame: map FIXED BY THE COSTMAP CONFIG Blockquote TF configuration: Tree --> odom --> base_link --> laser --> map

current updated TF configuration: map-->odom-->base_link-->laser

rqt_graph: rqt graph picture

Packages used:

• Rplidar (for the lidar I have)
• motor_hat (for the motor control)
• robot_setup_tf (for publishing the tf information)
• robot_drive (for publishing commands for the motor_hat)
• differential_drive (for publishing odom, twist commands and the PID controller)
• move_base (costmaps)
• amcl (for localization)
• map_server (to publish the map)

robot launch file:

<launch>

  <rosparam param="ticks_meter">6000</rosparam>
  <include file="$(find rplidar_ros)/launch/rplidar.launch"/>
  <node pkg="robot_setup_wheelencoders" type="rwheel.py" name="rwheel"/>
  <node pkg="robot_setup_wheelencoders" type="lwheel.py" name="lwheel"/>
  <node pkg="differential_drive" type="diff_tf.py" name="diff_tf" output="screen">
     <rosparam param="rate">8.0</rosparam>
     <rosparam param="base_width">0.294</rosparam>
  </node>
  <node pkg="robot_setup_tf" type="tf_broadcaster" name="tf_broadcaster"/>
  <node pkg="motor_hat" type="motor_hat_node" name="driving"/>
  <node pkg="robot_drive" type="robot_drive.py" name="drive_cmd"/>
  <node pkg="differential_drive" type="twist_to_motors.py" name="twist_to_motors" output="screen">
    <rosparam param="base_width">0.294</rosparam>
  </node>
  <node pkg="differential_drive" type="pid_velocity.py" name="lpid_velocity">
      <remap from="wheel" to="lwheel"/>
      <remap from="motor_cmd" to="lmotor_cmd"/>
      <remap from="wheel_vtarget" to="lwheel_vtarget"/>
      <remap from="wheel_vel" to="lwheel_vel"/>
      <rosparam param="Kp">75</rosparam>
      <rosparam param="Ki">148</rosparam>
      <rosparam param="Kd">0</rosparam>
      <rosparam param="out_min">-255</rosparam>
      <rosparam param="out_max">255</rosparam>
      <rosparam param="rate">30</rosparam>
      <rosparam param="timeout_ticks">4</rosparam>
      <rosparam param="rolling_pts">5</rosparam>
  </node>
  <node pkg="differential_drive" type="pid_velocity.py" name="rpid_velocity">
      <remap from="wheel" to="rwheel"/>
      <remap from="motor_cmd" to="rmotor_cmd"/>
      <remap from="wheel_vtarget ...