Unable to use the pr2 navigation stack tutorial on ros groovy

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I'm going through the pr2 simulator workshop. The navigation stack part doesn't seem to work correctly.

At the

roslaunch pr2_navigation_global rviz_move_base.launch

step, the figure in the tutorial shows a "blank map" should come up, but it doesn't here. All I get is a new rviz window where I can't do anything:

The terminal where I ran the roslaunch ~/pr2_nav_tutorial.launch shows quite a few errors like this:

[tilt_shadow_filter-5] process has died [pid 22033, exit code -11, cmd /opt/ros/groovy/stacks/laser_filters/bin/scan_to_cloud_filter_chain scan:=tilt_scan cloud_filtered:=tilt_scan_shadow_filtered __name:=tilt_shadow_filter __log:=/home/ankur-ros/.ros/log/ee3c2346-a2a8-11e2-b2e0-24be051362b4/tilt_shadow_filter-5.log].
log file: /home/ankur-ros/.ros/log/ee3c2346-a2a8-11e2-b2e0-24be051362b4/tilt_shadow_filter-5*.log
respawning...
[tilt_shadow_filter-5] restarting process
process[tilt_shadow_filter-5]: started with pid [22164]
[ERROR] [1365687042.097848393, 563.716000000]: Lookup would require extrapolation into the past.  Requested time 563.453000000 but the earliest data is at time 563.711000000, when looking up transform from frame [/base_footprint] to frame [/base_link]
[ERROR] [1365687042.627573548, 563.918000000]: Lookup would require extrapolation into the past.  Requested time 563.478000000 but the earliest data is at time 563.711000000, when looking up transform from frame [/base_footprint] to frame [/base_link]
[ERROR] [1365687043.089249967, 564.119000000]: Lookup would require extrapolation into the past.  Requested time 563.503000000 but the earliest data is at time 563.711000000, when looking up transform from frame [/base_footprint] to frame [/base_link]
[ERROR] [1365687043.572150252, 564.322000000]: Lookup would require extrapolation into the past.  Requested time 563.533000000 but the earliest data is at time 563.711000000, when looking up transform from frame [/base_footprint] to frame [/base_link]
[ERROR] [1365687044.021776920, 564.527000000]: Lookup would require extrapolation into the past.  Requested time 563.563000000 but the earliest data is at time 563.711000000, when looking up transform from frame [/base_footprint] to frame [/base_link]
[ERROR] [1365687044.433511852, 564.730000000]: Lookup would require extrapolation into the past.  Requested time 563.588000000 but the earliest data is at time 563.711000000, when looking up transform from frame [/base_footprint] to frame [/base_link]
[ERROR] [1365687044.854850625, 564.934000000]: Lookup would require extrapolation into the past.  Requested time 563.614000000 but the earliest data is at time 563.711000000, when looking up transform from frame [/base_footprint] to frame [/base_link]
[ERROR] [1365687045.289955355, 565.134000000]: Lookup would require extrapolation into the past.  Requested time 563.640000000 but the earliest data is at time 563.711000000, when looking up transform from frame [/base_footprint] to frame [/base_link]
[ERROR] [1365687045.765197888, 565.339000000]: Lookup would require extrapolation into the past.  Requested time 563.665000000 but the earliest data is at time 563.711000000, when looking up transform from frame [/base_footprint] to frame [/base_link]
[tilt_shadow_filter-5] process has died [pid 22164, exit code -11, cmd /opt/ros/groovy/stacks/laser_filters/bin/scan_to_cloud_filter_chain scan:=tilt_scan cloud_filtered:=tilt_scan_shadow_filtered __name:=tilt_shadow_filter __log:=/home/ankur-ros/.ros/log/ee3c2346-a2a8-11e2-b2e0-24be051362b4/tilt_shadow_filter-5.log].
log file: /home/ankur-ros/.ros/log/ee3c2346-a2a8-11e2-b2e0-24be051362b4/tilt_shadow_filter-5*.log
respawning...

I'm on ros groovy on Ubuntu 12.10. Would anyone know if there are changes to the navigation stack tutorial that ... (more)