move_base Get plan not working for real time data???

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This is a typical problem in the navigation stack if you use a distributed navigation architecture. The time delays are a problem.

Your global costmap has a parameter "/transform_tolerance (double, default: 0.2)" What that means? If your sensor data or your odometry data is too old they are not reliable information to build a costmap. Remember that a costmap is like a mapping method (but not slam). A very high cumulated odometry error could end up in an absolutley incoherent costmap.

In any case try to increase the transform_tolerance parameter and after that told us your results please!