Rviz, slam_gmapping hangs

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Hi, I am having some troubles with Rviz recently, my computer will hangs suddenly while i am using it. Originally it works fine and it is only recently that I got this problem. Does anyone have any idea what is going on? I know that my question sound really vague and lack information, but what I can deduced is my system hangs when I am using Rviz.

My graphic card is GeForce 9300M GS. Driver Version : 304.84. I am using Ubuntu 12.04. ROS fuerte. My Rviz revision number is 1.8.17.

Another thing is, this happened when I am using the 2dnav goal setting function on Rviz. And I think Rviz seems to be unable to receive message from robot footprint and obstacle. I am thinking it might have something to do with cost map or laser/odom input. Just a guess.

Any feedback will be appreciated. Thank you.

Update 1

At the point where it hangs, slam_mapping take up 12% of CPU but used up 1.2 GiB of memory.

After my system recovered from hanging, Rviz takes like 60-70 % of CPU abd used up like 100 plus MIB of memory.And I can no longer find slam_gmapping in the list of process in the system monitor. Yet it appears when I do rosnode list.

After the system recovered from hanging, I can't get any messages from move_base/local_costmap node.

In addition, I got this message on my terminal :

[ WARN] [1363349588.818795860, 121.587000000]: Could not get robot pose,  
cancelling reconfiguration
[ERROR] [1363349591.052922982, 121.887000000]: Extrapolation Error looking up 
robot pose: Unable to lookup transform, cache is empty, when looking up transform 
from frame [/base_footprint] to frame [/map]

A little background on what I am doing, I actually sort of alter the URDF so that the robot's sensors experience some pitching and rolling in motion, so I guess the input to slam_gmapping and costmap is affected. But previously such issue did not happened even after i altered the URDF.

Update 2:

Result from roswtf

Online checks summary:

Found 2 warning(s).
Warnings are things that may be just fine, but are sometimes at fault

WARNING The following node subscriptions are unconnected:
 * /move_base_node/local_costmap/voxel_grid_throttle:
   * /move_base_node/local_costmap/voxel_grid
 * /move_base_node:
   * /move_base_simple/goal
   * /move_base/cancel
 * /voxel_visualizer:
   * /move_base_node/local_costmap/voxel_grid_throttled
 * /gazebo:
   * /gazebo/set_link_state
   * /set_hfov
   * /gazebo/set_model_state
   * /set_update_rate

WARNING These nodes have died:
 * spawn_robot-5
 * slam_gmapping-11


Found 11 error(s).

ERROR Communication with [/robot_state_publisher] raised an error: 
ERROR Communication with [/slam_gmapping] raised an error: 
ERROR Communication with [/point_cloud_to_laser_manager] raised an error: 
ERROR Communication with [/voxel_visualizer] raised an error: 
ERROR Communication with [/base_laser_self_filter] raised an error: 
ERROR Communication with [/rviz_1363420915715223896] raised an error: 
ERROR Communication with [/robot_pose_ekf] raised an error: 
ERROR Could not contact the following nodes:
 * /slam_gmapping

ERROR The following nodes should be connected but aren't:
 * /robot_state_publisher->/robot_pose_ekf (/tf)
 * /robot_pose_ekf->/base_laser_self_filter (/tf)
 * /gazebo->/slam_gmapping (/base_scan/scan)
 * /gazebo->/slam_gmapping (/clock)
 * /robot_state_publisher->/base_laser_self_filter (/tf)
 * /robot_state_publisher->/slam_gmapping (/tf)
 * /slam_gmapping->/robot_pose_ekf (/tf)
 * /robot_pose_ekf->/slam_gmapping (/tf)
 * /robot_pose_ekf->/robot_pose_ekf (/tf)
 * /slam_gmapping->/base_laser_self_filter (/tf)
 * /gazebo- ...