Running navigation stack in Stage - move_base problem appeared

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Hi,

We are trying to run navigation stack in stage following the tutorials in order to have a better simulation test. Though right now it is not working as expected.

Description

We followed the tutorial in //www.ros.org/wiki/navigation/Tutorials/RobotSetup to setup the navigation stack for the simulation, except that we changed configurations for global_costmap.yaml to: (we couldn't set the global_frame to /map because once it was launched, it kept looking for transformation from /map to /base_link but couldn't find it)

global_costmap:
    global_frame: /odom
    robot_base_frame: base_link
    update_frequency: 5.0
    width: 40
    height: 80
    static_map: false
    rolling_window: true

And then we created our own .world file for the stage, attaching a ranger model to the robot, and using a bitmap created by us.

After that, we run the stage and navigation stack, and send a single goal using exactly the same codes from //www.ros.org/wiki/navigation/Tutorials/SendingSimpleGoals

Problem

Whatever goals we sent to the stage the robot either moved backward or did not move at all. And after that there always appeared:(These error messages never appear but new problems appeared and is described in Update section)

[ERROR] [1361215607.534558525, 10386.800000000]: Aborting because a valid plan could not be found. Even after executing all recovery behaviors
[ WARN] [1361215607.537462732, 10386.800000000]: The goal sent to the navfn planner is off the global costmap. Planning will always fail to this goal.

After I expanded the global costmap, the error message looked like this:

[ERROR] [1363718920.012470292, 206.400000000]: Rotate recovery can''t rotate in place because there is a potential collision. Cost: -1.00
[ERROR] [1363718920.113570275, 206.500000000]: Aborting because a valid plan could not be found. Even after executing all recovery behaviors

Update

I've echoed the /odom topic and found that whatever simple goal (with quternion x=y=z=0 and w = 1) we send, the twist is always x = -0.1, y = 0, z = 0 for linear and x = y = z = 0 for angular.

Does anyone know what we did wrong and provide some suggestions maybe? Any help is largely appreciated and I'm happy to provide more information if needed.

Thank you!