nav2d autonomouse exploration

Hi, I installed and tried nav2d navigation package exploration feature, with a real robot setup (kobuki base, urg-04lx) as per ros wiki instructions. i modified the tutorial3 launch and param files, as shown below (just copied the launch file and .yaml files into my catkin workspace so i can edit them). I received a map and other topics in RVIZ. since i dont have a joy stick i used `rosservice call /StartMapping 3` and `rosservice call /StartExploration 2` as per tutorials instructions i got nothing but a "response: 0" on my terminal window. LAUNCH File: when i tried to launch the SelfLocalizer in my launch file, it gave me an error saying: `ERROR: cannot launch node of type [nav2d_localizer/localizer]: can't locate node [localizer] in package [nav2d_localizer]` Another issue, i tried to remap `/cmd_vel` to kobuki's velocity topic but i received an error, [MD5] topic format mismatch. any help, suggestions are greately appreciated. Param files (.yaml) are also available. **UPDATE 1:** Here is the [rqt_dot](https://www.dropbox.com/s/r12e3ocky6nxv6h/nav2d_rqtgraph.dot?dl=0) file to download. tf_tree:  rqt_graph:  it also takes like 20 seconds or so before the topics in RVIZ receive information and go green. **UPDATE 2:** Parameters list: PARAMETERS * /Mapper/LoopSearchMaximumDistance: 10.0 * /Mapper/MinimumTravelDistance: 1.0 * /Mapper/MinimumTravelHeading: 0.52 * /Mapper/grid_resolution: 0.05 * /Mapper/map_update_rate: 5 * /Mapper/max_covariance: 0.01 * /Mapper/max_particles: 10000 * /Mapper/min_map_size: 20 * /Mapper/min_particles: 2500 * /Mapper/publish_pose_graph: True * /Mapper/range_threshold: 4.0 * /Mapper/transform_publish_period: 0.1 * /Navigator/exploration_goal_distance: 0.5 * /Navigator/map_inflation_radius: 0.25 * /Navigator/min_target_area_size: 1.0 * /Navigator/navigation_goal_angle: 1.0 * /Navigator/navigation_goal_distance: 0.5 * /Navigator/navigation_homing_distance: 0.5 * /Navigator/robot_radius: 0.2 * /Navigator/visualize_frontiers: True * /Operator/conformance_weight: 1 * /Operator/continue_weight: 0 * /Operator/distance_weight: 1 * /Operator/local_map/cost_scaling_factor: 2.0 * /Operator/local_map/footprint: [[-0.18, -0.18], ... * /Operator/local_map/global_frame: odom * /Operator/local_map/height: 10.0 * /Operator/local_map/inflation_radius: 0.25 * /Operator/local_map/lethal_cost_threshold: 100 * /Operator/local_map/map_type: costmap * /Operator/local_map/max_obstacle_height: 0.5 * /Operator/local_map/min_obstacle_height: 0.0 * /Operator/local_map/observation_sources: laser * /Operator/local_map/obstacle_range: 2.5 * /Operator/local_map/publish_frequency: 3.0 * /Operator/local_map/publish_voxel_map: False * /Operator/local_map/raytrace_range: 4.5 * /Operator/local_map/resolution: 0.05 * /Operator/local_map/robot_base_frame: base_footprint * /Operator/local_map/robot_radius: 0.2 * /Operator/local_map/rolling_window: True * /Operator/local_map/scan/clearing: True * /Operator/local_map/scan/data_type: LaserScan * /Operator/local_map/scan/expected_update_rate: 0.4 * /Operator/local_map/scan/marking: True * /Operator/local_map/scan/max_obstacle_height: 0.4 * /Operator/local_map/scan/min_obstacle_height: 0.08 * /Operator/local_map/scan/observation_persistence: 0.0 * /Operator/local_map/scan/topic: base_scan * /Operator/local_map/static_map: False * /Operator/local_map/track_unknown_space: True * /Operator/local_map/transform_tolerance: 0.3 * /Operator/local_map/update_frequency: 5.0 * /Operator/local_map/width: 10.0 * /Operator/max_free_space: 1.0 * /Operator/max_velocity: 0.1 * /Operator/publish_route: True * /Operator/safety_decay: 0.97 * /Operator/safety_weight: 2 * /SelfLocalizer/max_particles: 20000 * /SelfLocalizer/min_particles: 5000 * /laser_frame: laser * /laser_topic: base_scan * /map_frame: map * /map_service: static_map * /map_topic: map * /odometry_frame: odom * /offset_frame: offset * /robot_frame: base_footprint * /rosdistro: indigo * /rosversion: 1.11.10 * /use_sim_time: Fals