navigation stack PROBLEM

Let's start here

2. Whenever I try to pose_estimate button of rviz don't work properly. The problem is that the location of the robot doesn't update after I release the drag. I am not sure what is the main reason behind this.

3. whenever I launch roslaunch move_base.launch following thing appears------

root@ubuntu:~/fuerte_workspace/sandbox/usarsim/usarsim_inf# roslaunch move_base.launch

**I have given only the part which may help others to figure out the problem**

NODES
  /
    amcl (amcl/amcl)
    map_server (map_server/map_server)
    move_base (move_base/move_base)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found

process[map_server-1]: started with pid [6217]

process[amcl-2]: started with pid [6218]

process[move_base-3]: started with pid [6229]

[ INFO] [1390501326.876989793]: Subscribed to Topics: laser_scan_sensor

[ INFO] [1390501326.915627599]: Requesting the map...

[ INFO] [1390501326.917638217]: Still waiting on map...

[ INFO] [1390501327.992521850]: Still waiting on map...

[ WARN] [1390501328.926871105]: You have set map parameters, but also requested to use the static map. Your parameters will be overwritten by those given by the map server

[ INFO] [1390501328.927028639]: Received a 4000 X 4000 map at 0.050000 m/pix

[ INFO] [1390501332.857633828]: MAP SIZE: 4000, 4000

[ INFO] [1390501332.864812097]: Subscribed to Topics: laser_scan_sensor

[ INFO] [1390501333.233880683]: Sim period is set to 0.05

[ WARN] [1390501390.086875767]: The robot's start position is off the global costmap. Planning will always fail, are you sure the robot has been properly localized?

[ WARN] [1390501390.086875767]: The robot's start position is off the global costmap. Planning will always fail, are you sure the robot has been properly localized?

[ WARN] [1390501390.086875767]: The robot's start position is off the global costmap. Planning will always fail, are you sure the robot has been properly localized?

[ WARN] [1390501390.086875767]: The robot's start position is off the global costmap. Planning will always fail, are you sure the robot has been properly localized?

 WARN] [1390501401.208996105]: Map update loop missed its desired rate of 5.0000Hz... the loop actually took 4.8196 seconds
[ WARN] [1390501405.020310831]: Map update loop missed its desired rate of 5.0000Hz... the loop actually took 3.4113 seconds

[ WARN] [1390501409.875543831]: Map update loop missed its desired rate of 5.0000Hz... the loop actually took 3.0552 seconds

***For First warning where might be the error?***

***For second warning I have reduced 5 to 3, but even if situation doesn't change.***

My **global_costmap_params.yaml and local_costmap_params.yaml respectively**

global_costmap:

  global_frame: /map

  robot_base_frame: /base_footprint

  update_frequency: 5.0

  static_map: true

**end**

local_costmap:

  global_frame: /odom

  robot_base_frame: /base_footprint

  update_frequency: 5.0

  publish_frequency: 5.0

  static_map: false

  rolling_window: true

  width: 6.0

  height: 6.0

  # origin_x: -0.115

  origin_x: 7.5

  origin_y: 7.5

  resolution: 0.05

**my move_base.launch look like this.-------**

launch>

  !-- Run the map server -->

  node name="map_server" pkg="map_server" type="map_server" args="$(find usarsim_inf)/map.pgm 0.05"/>

  !--- You can see original move_base.launch -->

  !--- Run AMCL -->

  include file="$(find amcl)/examples/amcl_omni.launch" />

  node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">

    rosparam file="$(find usarsim_inf)/costmap_common_params.yaml" command="load" ns="global_costmap" />

    rosparam file="$(find usarsim_inf)/costmap_common_params.yaml" command="load" ns="local_costmap" />

    rosparam file="$(find usarsim_inf)/local_costmap_params.yaml" command="load" />

    rosparam file="$(find usarsim_inf)/global_costmap_params.yaml" command="load" />

    rosparam file="$(find usarsim_inf)/base_local_planner_params.yaml" command="load" />
  /node>

/launch>

**END**

**I intensionally left "<" bracket here as it can't be viewed**

4. Again although **I have generated a static map called map.pgm through map_saver utility but I am not able to bring it in rviz window.** I have gone through the video given int the page http://wiki.ros.org/navigation/Tutorials/Using%20rviz%20with%20the%20Navigation%20Stack