navigation help ! [closed]

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Hello all.

I am running the navigation stack exactly following the tutorial here. But I got the error after sending out a goal:

The goal sent to the navfn planner is off the global costmap. Planning will always fail to this goal.

Below are my info of the robot:

rostopic:

/camera_info
/clock
/cmd_vel
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/set_link_state
/gazebo/set_model_state
/image_raw
/image_raw/compressed
/image_raw/compressed/parameter_descriptions
/image_raw/compressed/parameter_updates
/image_raw/compressedDepth
/image_raw/compressedDepth/parameter_descriptions
/image_raw/compressedDepth/parameter_updates
/image_raw/theora
/image_raw/theora/parameter_descriptions
/image_raw/theora/parameter_updates
/map
/map_metadata
/odom
/rosout
/rosout_agg
/scan
/set_hfov
/set_joint_trajectory
/set_update_rate
/slam_gmapping/entropy
/tf

and rostopic echo tf, I got:

transforms: 
  - 
    header: 
      seq: 0
      stamp: 
        secs: 389
        nsecs: 951000000
      frame_id: /odom
    child_frame_id: /base_footprint
    transform: 
      translation: 
        x: 0.0871966069616
        y: 0.149884672896
        z: -0.00215917130854
      rotation: 
        x: 0.0
        y: 0.0
        z: -0.01729011792
        w: 0.999850514738

I am relpying rosrun gmapping slam_gmapping to publish the map topic, I got:

[ WARN] [1370908654.622479844, 389.096000000]: MessageFilter [target=/odom ]: Dropped 100.00% of messages so far. Please turn the [ros.gmapping.message_notifier] rosconsole logger to DEBUG for more information.