Using Robot Pose EKF for slam_gmapping [closed]

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Hi, I am wondering if anyone here have used Robot_Pose_EKF with slam_gmapping? I am doing a simulation in Gazebo. I am now trying to use Robot_Pose_EKF to produce the tf:transformation odom -> base_footprint, which I want the slam_gmapping to use. However, every time I start Gazebo simulator, the program will hang for a while and when it start to run smoothly, slam_gmapping would die.

I checked the tf tree, it seems that robot_pose_ekf is working and able to produce the odom -> base_footprint transformation, but slam_gmapping did not publish the transformation from /map to /odom.

After doing roswtf, I get the following:

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:
 * /move_base_node/local_costmap/voxel_grid_throttle:
   * /move_base_node/local_costmap/voxel_grid
 * /move_base_node:
   * /move_base_simple/goal
 * /voxel_visualizer:
   * /move_base_node/local_costmap/voxel_grid_throttled
 * /gazebo:
   * /set_update_rate
   * /gazebo/set_link_state
   * /set_hfov
   * /gazebo/set_model_state

WARNING These nodes have died:
 * spawn_robot-5
 * slam_gmapping-11


Found 12 error(s).

ERROR Communication with [/robot_state_publisher] raised an error: 
ERROR Communication with [/rosout] raised an error: 
ERROR Communication with [/base_shadow_filter] raised an error: 
ERROR Communication with [/gps_conv] raised an error: 
ERROR Communication with [/voxel_visualizer] raised an error: 
ERROR Communication with [/rxconsole_1363778562768817135] raised an error: 
ERROR Communication with [/point_cloud_to_laser_manager] raised an error: 
ERROR Communication with [/robot_pose_ekf] raised an error: 
ERROR Communication with [/base_laser_self_filter] raised an error: 
ERROR Could not contact the following nodes:
 * /slam_gmapping

ERROR The following nodes should be connected but aren't:
 * /gazebo->/slam_gmapping (/base_scan/scan)
 * /robot_state_publisher->/slam_gmapping (/tf)
 * /gps_conv->/robot_pose_ekf (/vo)
 * /slam_gmapping->/robot_pose_ekf (/tf)
 * /robot_pose_ekf->/robot_pose_ekf (/tf)
 * /base_shadow_filter->/base_laser_self_filter (/base_scan/shadow_filtered)
 * /rxconsole_1363778562768817135->/rosout (/rosout)
 * /gazebo->/slam_gmapping (/clock)
 * /voxel_visualizer->/rosout (/rosout)
 * /base_shadow_filter->/rosout (/rosout)
 * /robot_pose_ekf->/base_laser_self_filter (/tf)
 * /robot_state_publisher->/base_laser_self_filter (/tf)
 * /robot_state_publisher->/robot_pose_ekf (/tf)
 * /gps_conv->/rosout (/rosout)
 * /point_cloud_to_laser_manager->/rosout (/rosout)
 * /slam_gmapping->/rosout (/rosout)
 * /slam_gmapping->/base_shadow_filter (/tf)
 * /robot_pose_ekf->/slam_gmapping (/tf)
 * /base_laser_self_filter->/rosout (/rosout)
 * /robot_pose_ekf->/base_shadow_filter (/tf)
 * /slam_gmapping->/base_laser_self_filter (/tf)
 * /robot_state_publisher->/rosout (/rosout)
 * /robot_state_publisher->/base_shadow_filter (/tf)
 * /rosout->/rxconsole_1363778562768817135 (/rosout_agg)
 * /robot_pose_ekf->/rosout (/rosout)
 * /gazebo->/slam_gmapping (/tf)
 * /slam_gmapping->/slam_gmapping (/tf)

ERROR Errors connecting to the following services:
 * service [/slam_gmapping/tf_frames] appears to be malfunctioning: Unable to  
communicate with service [/slam_gmapping/tf_frames], address  
[rosrpc://ubuntu:42167]
 * service [/slam_gmapping/set_logger_level] appears to be malfunctioning: Unable 
to communicate with service [/slam_gmapping/set_logger_level], address 
[rosrpc://ubuntu:42167]
 * service [/dynamic_map] appears to be malfunctioning: Unable to communicate with 
service [/dynamic_map], address [rosrpc://ubuntu:42167]
 * service [/slam_gmapping/get_loggers] appears to be malfunctioning: Unable to  
communicate with service [/slam_gmapping/get_loggers], address  
[rosrpc://ubuntu:42167]

Please kindly advise, thank you.