navigation stack

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When i run the navigation stack I get this error

[ WARN] [1351800032.265951422]: Waiting on transform from /base_link to /world to become available before running costmap, tf error:

I get this error only if I use a static map. The fact is that I never use a frame /world so I can't figure out why that transformation is needed.

This is my local costmap configuration file:

local_costmap:
      global_frame: /map
      robot_base_frame: /base_link
      update_frequency: 5
      publish_frequency: 1
      static_map: false
      rolling_window: true
      width: 1.0
      height: 1.0
      resolution: 0.1

This is my common params configuration file:

obstacle_range: 1.0
raytrace_range: 1.5
robot_radius: 0.1
inflation_radius: 0.1
transform_tolerance: 0.3

observation_sources: laser_scan_sensor 

laser_scan_sensor: {sensor_frame: /ultrasonic_sensor, data_type: LaserScan, topic: scan, marking: true, clearing: true}

This is my global costmap configuration file:

 global_costmap:
      global_frame: /map
      robot_base_frame: /base_link
      update_frequency: 2
      static_map: true
      rolling_window: false
      width: 6.0
      height: 6.0

This is my move_base.launch file:

<launch>

  <param name="map_file_name" value="$(find nxt_lejos_map_server)/mymap.svg"/>
  <node pkg="nxt_lejos_map_server" 
    type="nxt_lejos_map_server" 
    args="org.lejos.ros.nodes.PublishOccupancyMap" 
    name="nxt_lejos_map_server" 
    output="screen" />

     <!--- Run AMCL -->
  <!--- <include file="$(find amcl)/examples/amcl_omni.launch" /> -->

  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find nxt_lejos_navigation)/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find nxt_lejos_navigation)/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find nxt_lejos_navigation)/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find nxt_lejos_navigation)/global_costmap_params.yaml" command="load" />

    <rosparam file="$(find nxt_lejos_navigation)/base_local_planner_params.yaml" command="load" />

    <param name="controller_frequency" value="5.0"/>
  </node>
</launch>