move_base output

[ INFO] [1379427932.898503595]: Using plugin "static_map"
[ INFO] [1379427933.130829996]: Requesting the map...
[ INFO] [1379427933.335869547]: Received a 299 X 200 map at 0.010000 m/pix
[ INFO] [1379427933.446421106]: Using plugin "obstacles"
[ INFO] [1379427933.449842910]:     Subscribed to Topics:
[ERROR] [1379427933.502842177]: Tried to advertise a service that is already advertised in this node [/MoveBase/global_costmap/obstacles/set_parameters]
[ INFO] [1379427933.590971191]: Using plugin "inflater"
[ WARN] [1379427934.281822731]: Map update loop missed its desired rate of 5.0000Hz... the loop actually took 0.4898 seconds
[ INFO] [1379427934.373615618]: Using plugin "static_map"
[ INFO] [1379427934.584577012]: Requesting the map...
[ INFO] [1379427934.585748600]: Received a 299 X 200 map at 0.010000 m/pix
[ INFO] [1379427934.693675383]: Using plugin "obstacles"
[ INFO] [1379427934.696428457]:     Subscribed to Topics:
[ERROR] [1379427934.756813440]: Tried to advertise a service that is already advertised in this node [/MoveBase/local_costmap/obstacles/set_parameters]
[ INFO] [1379427934.863207766]: Using plugin "inflater"
[ WARN] [1379427935.344275295]: Map update loop missed its desired rate of 5.0000Hz... the loop actually took 0.3655 seconds
[ INFO] [1379427935.483819577]: Created local_planner base_local_planner/TrajectoryPlannerROS
[ INFO] [1379427935.543441195]: Sim period is set to 0.10