start position is off the global costmap? Navigation

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Hi guys

I completely lost in using the navigation stack. I have created a launch file:

<launch>
  <master auto="start"/>

  <!-- Run the map server -->
  <node name="map_server" pkg="map_server" type="map_server" args="$(find navigation_for_segbot)/maps/bwi_test_world.yaml"/>

  <!--- Run AMCL -->
  <include file="$(find amcl)/examples/amcl_omni.launch" />

  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">

    <rosparam file="$(find navigation_for_segbot)/params/local_costmap_params.yaml" c    <rosparam file="$(find navigation_for_segbot)/params/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find navigation_for_segbot)/params/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find navigation_for_segbot)/params/base_local_planner_params.yaml" command="load" />
  </node>
</launch>

then I tried to send goal but the robot is rotating around without actually moving anywhere:

[ INFO] [1370824628.007088563, 316.393000000]: Subscribed to Topics: 
[ INFO] [1370824628.233852157, 316.545000000]: MAP SIZE: 0, 200
[ INFO] [1370824628.238549672, 316.549000000]: Subscribed to Topics: 
[ INFO] [1370824628.449820351, 316.686000000]: Sim period is set to 0.05
[ WARN] [1370824628.463985213, 316.696000000]: Trajectory Rollout planner initialized with param meter_scoring not set. Set it to true to make your settins 
robust against changes of costmap resolution.
[ WARN] [1370824381.338229900, 95.549000000]: The robot's start position is off the global costmap. Planning will always fail, are you sure the robot has been properly localized?

I believe the last line of above is the error. But why??????