Sensor out of bounds, cannot raytrace

[stonier]

This is spamming us. To reproduce:

• start the robot
• start rviz
• move around the initial position till this spams us

[stonier]

Possible hint at something wrong (though maybe not the source of this)

http://answers.ros.org/question/45878/running-move_base-for-navigation-via-gmapping/

Lorenz is saying that the local costmap shouldn't be tied to /map, but /odom instead (basically you don't want the local costmap 'jumping'.