Transform from base_link to /map navigation stack error

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Thanks but there isn't a name problem. I tried your solution and the problem persist but I solved them adding a tf (chassis->map) in the tf_broadcaster (these tf could be the distance between the map and the center of my chassis?). At this moment my problem is the next: "Waiting on transform from /chassis to /odom to become available before running costmap, tf error: Frame id /odom does not exist!", however there is a /odom topic publishing the correct tf, but no topic use them. It is necessary that these tf be published by the /tf topic?

The tf_broadcaster broadcasts a chassis->odom transform ?

Yes, but the problem is this: TF_NAN_INPUT: Ignoring transform for child_frame_id "/chassis" from authority "/tf_broadcast_node" because of a nan value in the transform (0.000000 0.000000 0.000000) (-nan -nan -nan -nan) I think that this is because I am subscribing the /odom topic in tf_broadcaster, and after this, sending the data obtained trough a tf like the others (chassis -> map, chassis -> laser). I launched rostopic echo /odom and the topic was publishing data, but more of their values are near to 0.0 (like x: 3.98959187107e-06, y: -1.8343490578e-10). To check this, I launched rostopic echo /joint_state and comparate in the velocity that arrives to my odometry_node (trough a subscription to /joint_state topic). As I expected, there are diferent values and it seems that the problem is genered trough here. To clarify this, I made a capture to rxgraph ( http://i51.tinypic.com/68ypt4.jpg ). Any idea?