P2os navigation stack

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Hi
I'm using the navigation stack of the p2os package with Gazebo.
I'm launching pioneer3dx.gazebo.launch to simulate the p3dx robot.

<launch>

  <include file="$(find gazebo_worlds)/launch/office_world.launch"/>

  <include file="$(find p2os_urdf)/launch/upload_pioneer3dx.xml"/>

  <!-- push robot_description to factory and spawn robot in gazebo -->
  <node name="spawn_pioneer" pkg="gazebo" type="spawn_model" 
    args="-z 0.051 
          -urdf 
          -param robot_description  
          -model robot_description" 
    respawn="false" output="screen" />

  <!-- Controller Manager -->
  <include file="$(find pr2_controller_manager)/controller_manager.launch" />

  <!-- load controllers -->
  <node name="diffdrive" pkg="gazebo_plugins" type="gazebo_ros_diffdrive" respawn="true" output="screen"/>


</launch>

Then I'm launching the navigation.launch file:

<launch>
    <master auto="start"/>

    <!-- Run the map server (you can run it here or in another terminal) -->
    <node name="map_server" pkg="map_server" type="map_server" args="$(find p2os_nav)/simple_office_map.png 0.1" respawn="true"/> 

    <!--- Run AMCL -->
    <include file="$(find p2os_launch)/amcl.launch" />

    <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
        <rosparam file="$(find p2os_launch)/costmap_common_params.yaml" command="load" ns="global_costmap" />
        <rosparam file="$(find p2os_launch)/costmap_common_params.yaml" command="load" ns="local_costmap" />
        <rosparam file="$(find p2os_launch)/local_costmap_params.yaml" command="load" />
        <rosparam file="$(find p2os_launch)/global_costmap_params.yaml" command="load" />
        <rosparam file="$(find p2os_launch)/base_local_planner_params.yaml" command="load" />
        <param name="base_global_planner" type="string" value="NavfnROS" />
        <param name="conservative_reset_dist" type="double" value="3.0" />
        <param name="controller_frequency" type="double" value="15.0" />
    </node>
</launch>

but I get this error:

[ WARN] [1358420453.650886449, 1103.836000000]: Waiting on transform from /base_link to /map to become available before running costmap, tf error:

This transformation shouldn't be published by the navigation stack itself? I should create a node which publish it?