TF Error while running AMCL (turtlebot). Waiting on transform from /base_link to /map to become available before running costmap.

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Hi,

I have a world in gazebo(fuerte) with turtlebot in it and I have the map of the world too. After launching the world, when I try to launch the launch file described below, I get this warning:

[ WARN] [1366190909.527997203, 40.084000000]: Waiting on transform from /base_link to /map to become available before running costmap, tf error:

Launch File:

<launch>  
<!-- Run the map server -->
  <arg name="map_file" default="$(find turtlebot_navigation)/maps/willow-2010-02-18-0.10.yaml"/>
  <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />

  <!--- Run AMCL -->
  <include file="$(find turtlebot_navigation)/config/amcl_turtlebot.launch" />

  <!--- Run Move Base -->
  <include file="$(find turtlebot_navigation)/config/move_base_turtlebot.launch" />

</launch>

I made the map of the environment with a turtlebot when I was using electric and I never used to get this warning in electric. After running this launch, when I do rosrun tf view_frames, /map frame does not show up in the list of frames at all. I referred to the following questions, but I am not able to get the catch. http://answers.ros.org/question/35844/help-with-navigation-error-transform-from-base_link-to-map/ http://answers.ros.org/question/9928/transform-from-base_link-to-map-navigation-stack-error/

What is the problem here ? Is there file I have to edit before running the launch or am I missing a step ?

Update:

This is my TF tree (Pls save the image and zoom in for a clearer picture).

@Procópio Silveira Stein, I cannot visualise any data on rviz and I am unable to choose the initial pose in rviz. /map frame does not seem to exist at all.

I will try few more tricks and update shortly. Thanks,

Prasanna