Why does move_base abort this path?

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I'm using frontier_exploration to do autonomous mapping and this is the first goal that it sends the robot when it is initialized.

The robot can't move and I get these errors:

[ERROR] [1459373069.392635517]: Footprint spec is empty, maybe missing call to setFootprint?
[ WARN] [1459373069.393029517]: Invalid Trajectory 0.000000, 0.000000, 0.400000, cost: -9.000000
[ WARN] [1459373069.393286183]: Rotation cmd in collision
[ INFO] [1459373069.394777850]: Error when rotating.
[ INFO] [1459373069.490389850]: Got new plan

Eventually, all of the recovery behaviors fail and I get the error:

[ERROR] [1459373090.449866595]: Aborting because a valid control could not be found. Even after executing all recovery behaviors
[ERROR] [1459373090.450383095]: Failed to move

This can't be a problem with the costmaps because there aren't any obstacles nearby.

Any thoughts?