How do I make the right connections for move_base?

edit

I am trying to use move_base but I'm not having any success. I get the following output from roswtf, which suggests I've not connected up everything correctly.

Loaded plugin tf.tfwtf
No package or stack in context
================================================================================
Static checks summary:

No errors or warnings
================================================================================
Beginning tests of your ROS graph. These may take awhile...
analyzing graph...
... done analyzing graph
running graph rules...
... done running graph rules
running tf checks, this will take a second...
... tf checks complete

Online checks summary:

Found 2 warning(s).
Warnings are things that may be just fine, but are sometimes at fault

WARNING The following node subscriptions are unconnected:
 * /ekf_localization:
   * /set_pose
 * /rviz:
   * /twist_marker_server/update
   * /map_updates
 * /gazebo:
   * /gazebo/set_link_state
   * /gazebo/set_model_state
 * /move_base:
   * /front/scan
   * /move_base_simple/goal
   * /move_base/cancel
 * /twist_mux:
   * /bluetooth_teleop/cmd_vel
   * /joy_teleop/cmd_vel
   * /twist_marker_server/cmd_vel
   * /e_stop

WARNING These nodes have died:
 * teleoperation-8
 * spawn_urdf-9
 * global_loc-13


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)

Could anyone advise how to implement properly? The launch code is as follows:

<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find jackal_navigation)/params/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find jackal_navigation)/params/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find jackal_navigation)/params/map_nav_params/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find jackal_navigation)/params/map_nav_params/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find jackal_navigation)/params/base_local_planner_params.yaml" command="load" />
    <rosparam file="$(find jackal_navigation)/params/move_base_params.yaml" command="load" />
    <param name="base_global_planner" type="string" value="navfn/NavfnROS" />
    <param name="base_local_planner" value="base_local_planner/TrajectoryPlannerROS"/>
    <remap from="odom" to="odometry/filtered" />
</node>