Sensor origin warning and abrupt exit while running frontier_exploration

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I`m trying to run frontier_exploration using turtlebot to generate a map of an unknown environment.

It seems all the plugins are loaded without any problem but it shows a warning which says "The origin for the sensor at (-0.09, 0.01) is out of map bounds. So, the costmap cannot raytrace for it." Documentation suggests not to worry about this warning. But as soon as I complete publishing points in rviz launcher, terminal shows: 1. [INFO][x,y]:Sending goal 2. [WARN][x,y]:Current exploration task cancelled.

Parameters used:

1. $(find turtlebot_navigation)/param/costmap_common_params.yaml with static_map: enabled: set to false

2. costmap_exploration_turtlebot.yaml

   track_unknown_space: true
   global_frame: map
   rolling_window: false
   robot_base_frame: base_link
   
   plugins:
     - {name: explore_boundary, type: "frontier_exploration::BoundedExploreLayer"}
     - {name: sensor, type: "costmap_2d::ObstacleLayer"}
     - {name: inflation, type: "costmap_2d::InflationLayer"}
   
   explore_boundary:
     resize_to_boundary: true
     frontier_travel_point: closest
   
   sensor:
     observation_sources: laser
     laser: {data_type: LaserScan, clearing: true, marking: true, topic: scan, inf_is_valid: true}
   
   inflation:
     inflation_radius: 0.5
   

And is there any way to include vertices of exploration polygon in the launch file or in any of these yaml files.