turtlebot amcl robot footprint error

edit

I'm trying to use amcl on the turtlebot robot. My amcl launch file is modified from the android app_manager amcl launcher. I have authored several of my own rapp files, and that part seems to work for now. I am able to load amcl and a map file, and then once one is loaded I can try to programmatically designate start (/initialpose) and stop (/move_base_simple/goal) coordinates. After doing so I even observe a small blue line on rviz that covers what I expect would be the path of the robot, BUT the robot doesn't move. I get the following two errors. The first on I get on the rviz computer. The second one I get on the Turtlebot computer.

[ERROR] [1394045389.663173820]: TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "/app_manager/application/amcl" because of a nan value in the transform (-nan -nan nan) (-nan -nan -nan -nan)

[ERROR] [1394045392.583904722]: You must specify at least three points for the robot footprint, reverting to previous footprint.

EDIT 1: This is my launcher file. It comes almost directly from the android example. BTW I would like to get rid of the functionality that sends images to the android phone. I'm actually using a rosbridge server interface to control the robot and I don't need to see images from the kinect. Maybe I don't need the optimization code too. Also I'm using hydro on an ubuntu 12.04 system.

<launch>
  <include file="$(find turtlebot_bringup)/launch/minimal.launch"/>
  <include file="$(find tele_presence)/launch/minimal.launch"/>

  <!-- *********************** Teleoperation ********************** -->
  <param name="camera/rgb/image_color/compressed/jpeg_quality" value="22"/>

  <include file="$(find turtlebot_bringup)/launch/3dsensor.launch">
    <arg name="rgb_processing" value="true" />
    <arg name="depth_registration" value="false" />
    <arg name="depth_processing" value="false" />
  </include>

  <!-- Make a slower camera feed available. -->
  <node pkg="topic_tools" type="throttle" name="camera_throttle" args="messages camera/rgb/image_color/compressed 5"/>

  <node pkg="nodelet" type="nodelet" name="teleop_velocity_smoother"
        args="load yocs_velocity_smoother/VelocitySmootherNodelet /mobile_base_nodelet_manager">
    <rosparam file="$(find turtlebot_bringup)/param/defaults/smoother.yaml" command="load"/>
    <remap from="teleop_velocity_smoother/raw_cmd_vel" to="android/virtual_joystick/cmd_vel"/>
    <remap from="teleop_velocity_smoother/smooth_cmd_vel" to="/cmd_vel_mux/input/teleop"/>

    <!-- Robot velocity feedbacks; use the one configured as base default -->
    <remap from="teleop_velocity_smoother/odometry" to="/odom"/>
    <remap from="teleop_velocity_smoother/robot_cmd_vel" to="/mobile_base/commands/velocity"/>
  </node>

  <!-- *********************** Optimisation *********************** -->
  <node pkg="tf" type="tf_change_notifier" name="tf_throttle_for_android_gui">
    <param name="polling_frequency" value="5"/>
    <param name="translational_update_distance" value="-1"/>
    <param name="angular_update_distance" value="-1"/>
    <rosparam param="frame_pairs">
      - {source_frame: base_footprint, target_frame: map}
      - {source_frame: camera_depth_frame, target_frame: map}
    </rosparam>
  </node>


  <!-- *************************** Navi *************************** -->
  <include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml">
    <arg name="odom_topic" value ="/odom" />
  </include>
  <include file="$(find turtlebot_navigation)/launch/includes/amcl.launch.xml">
    <arg name="use_map_topic" value ="true"/>
  </include>


  <!-- *************************** Maps *************************** -->
  <!-- this launcher lets me use some map_store services -->

    <include file="$(find tele_presence)/launch/manage_map.launch"/>
</launch>

How do I specify the robot footprint? Will doing so help at all with the TF amcl error?