Thanks for that suggestion. that helped.
However, the robot still seems hopelessly lost and unable to get started on a path to a navigation goal specified using the rviz interface. Here is the output of the console after I launch the /move_base node, then use rviz to first set a pose estimate then select a nearby (easy to reach) nav goal:
user:~$ roslaunch my_turtlebot_planning move_base.launch
... logging to /home/user/.ros/log/38a87c76-12db-11ec-a04c-0242c0a80007/roslaunch-1_xterm-23903.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://1_xterm:39711/
SUMMARY
========
PARAMETERS
* /amcl/base_frame_id: base_footprint
* /amcl/global_frame_id: map
* /amcl/gui_publish_rate: 10.0
* /amcl/initial_pose_a: 0.0
* /amcl/initial_pose_x: 0.0
* /amcl/initial_pose_y: 0.0
* /amcl/kld_err: 0.05
* /amcl/kld_z: 0.99
* /amcl/laser_lambda_short: 0.1
* /amcl/laser_likelihood_max_dist: 2.0
* /amcl/laser_max_beams: 30
* /amcl/laser_model_type: likelihood_field
* /amcl/laser_sigma_hit: 0.2
* /amcl/laser_z_hit: 0.5
* /amcl/laser_z_max: 0.05
* /amcl/laser_z_rand: 0.5
* /amcl/laser_z_short: 0.05
* /amcl/max_particles: 5000
* /amcl/min_particles: 500
* /amcl/odom_alpha1: 0.2
* /amcl/odom_alpha2: 0.2
* /amcl/odom_alpha3: 0.8
* /amcl/odom_alpha4: 0.2
* /amcl/odom_alpha5: 0.1
* /amcl/odom_frame_id: odom
* /amcl/odom_model_type: diff
* /amcl/recovery_alpha_fast: 0.0
* /amcl/recovery_alpha_slow: 0.0
* /amcl/resample_interval: 1
* /amcl/transform_tolerance: 0.1
* /amcl/update_min_a: 0.5
* /amcl/update_min_d: 0.2
* /move_base/DWAPlannerROS/acc_lim_theta: 2.0
* /move_base/DWAPlannerROS/acc_lim_x: 1.0
* /move_base/DWAPlannerROS/acc_lim_y: 0.0
* /move_base/DWAPlannerROS/forward_point_distance: 0.325
* /move_base/DWAPlannerROS/global_frame_id: odom
* /move_base/DWAPlannerROS/goal_distance_bias: 24.0
* /move_base/DWAPlannerROS/holonomic_robot: False
* /move_base/DWAPlannerROS/max_scaling_factor: 0.2
* /move_base/DWAPlannerROS/max_vel_theta: 1.5
* /move_base/DWAPlannerROS/max_vel_trans: 0.5
* /move_base/DWAPlannerROS/max_vel_x: 0.5
* /move_base/DWAPlannerROS/max_vel_y: 0.0
* /move_base/DWAPlannerROS/min_vel_theta: 0.1
* /move_base/DWAPlannerROS/min_vel_trans: 0.1
* /move_base/DWAPlannerROS/min_vel_x: 0.0
* /move_base/DWAPlannerROS/min_vel_y: 0.0
* /move_base/DWAPlannerROS/occdist_scale: 0.5
* /move_base/DWAPlannerROS/oscillation_reset_dist: 0.05
* /move_base/DWAPlannerROS/path_distance_bias: 64.0
* /move_base/DWAPlannerROS/publish_cost_grid_pc: True
* /move_base/DWAPlannerROS/publish_traj_pc: True
* /move_base/DWAPlannerROS/scaling_speed: 0.25
* /move_base/DWAPlannerROS/sim_time: 2.0
* /move_base/DWAPlannerROS/stop_time_buffer: 0.2
* /move_base/DWAPlannerROS/theta_stopped_vel: 0.0
* /move_base/DWAPlannerROS/trans_stopped_vel: 0.1
* /move_base/DWAPlannerROS/vtheta_samples: 20
* /move_base/DWAPlannerROS/vx_samples: 6
* /move_base/DWAPlannerROS/vy_samples: 1
* /move_base/DWAPlannerROS/xy_goal_tolerance: 0.15
* /move_base/DWAPlannerROS/yaw_goal_tolerance: 0.3
* /move_base/NavfnROS/allow_unknown: False
* /move_base/NavfnROS/default_tolerance: 0.0
* /move_base/NavfnROS/planner_window_x: 0.0
* /move_base/NavfnROS/planner_window_y: 0.0
* /move_base/NavfnROS/visualize_potential: False
* /move_base/base_global_planner: navfn/NavfnROS
* /move_base/base_local_planner: dwa_local_planner...
* /move_base/controller_frequency: 5.0
* /move_base/controller_patience: 15.0
* /move_base/global_costmap/footprint: [[0.35, -0.3], [0...
* /move_base/global_costmap/global_frame: map
* /move_base/global_costmap/inflation_layer/cost_scaling_factor: 5.0
* /move_base/global_costmap/inflation_layer/enabled: True
* /move_base/global_costmap/inflation_layer/inflation_radius: 0.5
* /move_base/global_costmap/obstacle_layer/observation_sources: rplidar_laser
* /move_base/global_costmap/obstacle_layer/rpilidar_laser/clearing: True
* /move_base/global_costmap/obstacle_layer/rpilidar_laser/data_type: LaserScan
* /move_base/global_costmap/obstacle_layer/rpilidar_laser/marking: True
* /move_base/global_costmap/obstacle_layer/rpilidar_laser/sensor_frame: base_scan
* /move_base/global_costmap/obstacle_layer/rpilidar_laser/topic: /hokuyo_base/scan
* /move_base/global_costmap/obstacle_range: 2.5
* /move_base/global_costmap/plugins: [{'name': 'static...
* /move_base/global_costmap/publish_frequency: 0.5
* /move_base/global_costmap/raytrace_range: 3.0
* /move_base/global_costmap/robot_base_frame: base_link
* /move_base/global_costmap/static_layer/enabled: True
* /move_base/global_costmap/static_layer/map_topic: /map
* /move_base/global_costmap/static_layer/subscribe_to_updates: True
* /move_base/global_costmap/transform_tolerance: 0.5
* /move_base/global_costmap/update_frequency: 5.0
* /move_base/local_costmap/footprint: [[0.35, -0.3], [0...
* /move_base/local_costmap/footprint_padding: 0.0
* /move_base/local_costmap/global_frame: odom
* /move_base/local_costmap/height: 5.0
* /move_base/local_costmap/inflation_layer/cost_scaling_factor: 5.0
* /move_base/local_costmap/inflation_layer/enabled: True
* /move_base/local_costmap/inflation_layer/inflation_radius: 0.5
* /move_base/local_costmap/obstacle_layer/observation_sources: rplidar_laser
* /move_base/local_costmap/obstacle_layer/rpilidar_laser/clearing: True
* /move_base/local_costmap/obstacle_layer/rpilidar_laser/data_type: LaserScan
* /move_base/local_costmap/obstacle_layer/rpilidar_laser/marking: True
* /move_base/local_costmap/obstacle_layer/rpilidar_laser/sensor_frame: base_scan
* /move_base/local_costmap/obstacle_layer/rpilidar_laser/topic: /hokuyo_base/scan
* /move_base/local_costmap/obstacle_range: 2.5
* /move_base/local_costmap/plugins: [{'name': 'obstac...
* /move_base/local_costmap/publish_frequency: 2.0
* /move_base/local_costmap/raytrace_range: 3.0
* /move_base/local_costmap/resolution: 0.05
* /move_base/local_costmap/robot_base_frame: base_link
* /move_base/local_costmap/rolling_window: True
* /move_base/local_costmap/static_layer/enabled: True
* /move_base/local_costmap/static_layer/map_topic: /map
* /move_base/local_costmap/static_layer/subscribe_to_updates: True
* /move_base/local_costmap/transform_tolerance: 0.5
* /move_base/local_costmap/update_frequency: 5.0
* /move_base/local_costmap/width: 5.0
* /move_base/oscillation_distance: 0.2
* /move_base/oscillation_timeout: 10.0
* /move_base/planner_frequency: 1.0
* /move_base/planner_patience: 5.0
* /move_base/recovery_behavior_enabled: True
* /move_base/shutdown_costmaps: False
* /rosdistro: noetic
* /rosversion: 1.15.9
NODES
/
amcl (amcl/amcl)
map_server (map_server/map_server)
move_base (move_base/move_base)
ROS_MASTER_URI=http://1_xterm:11311
process[map_server-1]: started with pid [23932]
process[amcl-2]: started with pid [23933]
process[move_base-3]: started with pid [23934]
[ INFO] [1631355731.951646629, 3639.632000000]: Requesting the map...
[ INFO] [1631355732.044894614, 3639.656000000]: Received a 1984 X 1984 map @ 0.050 m/pix
[ INFO] [1631355732.648126742, 3639.924000000]: Initializing likelihood field model; this can take some time on large maps...
[ INFO] [1631355733.053887761, 3640.161000000]: Done initializing likelihood field model.
[ WARN] [1631355733.553998159, 3640.418000000]: global_costmap: Pre-Hydro parameter "static_map" unused since "plugins" is provided
[ WARN] [1631355733.557006528, 3640.424000000]: global_costmap: Pre-Hydro parameter "map_type" unused since "plugins" is provided
[ INFO] [1631355733.559639934, 3640.431000000]: global_costmap: Using plugin "static_layer"
[ INFO] [1631355733.648087664, 3640.470000000]: Requesting the map...
[ INFO] [1631355733.860255460, 3640.681000000]: Resizing costmap to 1984 X 1984 at 0.050000 m/pix
[ INFO] [1631355734.043262256, 3640.781000000]: Received a 1984 X 1984 map at 0.050000 m/pix
[ INFO] [1631355734.043339501, 3640.781000000]: Subscribing to updates
[ INFO] [1631355734.049925281, 3640.787000000]: global_costmap: Using plugin "obstacle_layer"
[ INFO] [1631355734.059470902, 3640.791000000]: Subscribed to Topics: rplidar_laser
[ INFO] [1631355734.342893591, 3640.933000000]: global_costmap: Using plugin "inflation_layer"
[ WARN] [1631355734.749740081, 3641.122000000]: local_costmap: Pre-Hydro parameter "static_map" unused since "plugins" is provided
[ WARN] [1631355734.751001054, 3641.125000000]: local_costmap: Pre-Hydro parameter "map_type" unused since "plugins" is provided
[ INFO] [1631355734.752109017, 3641.127000000]: local_costmap: Using plugin "obstacle_layer"
[ INFO] [1631355734.759779108, 3641.141000000]: Subscribed to Topics: rplidar_laser
[ INFO] [1631355734.847526910, 3641.156000000]: local_costmap: Using plugin "inflation_layer"
[ INFO] [1631355735.149740400, 3641.273000000]: Created local_planner dwa_local_planner/DWAPlannerROS
[ INFO] [1631355735.156911559, 3641.286000000]: Sim period is set to 0.20
[ WARN] [1631355735.167194976, 3641.304000000]: Parameter max_trans_vel is deprecated (and will not load properly). Use max_vel_trans instead.
[ WARN] [1631355735.167788128, 3641.305000000]: Parameter min_trans_vel is deprecated (and will not load properly). Use min_vel_trans instead.
[ WARN] [1631355735.168391792, 3641.305000000]: Parameter max_rot_vel is deprecated (and will not load properly). Use max_vel_theta instead.
[ WARN] [1631355735.168823102, 3641.305000000]: Parameter min_rot_vel is deprecated (and will not load properly). Use min_vel_theta instead.
[ WARN] [1631355735.243089076, 3641.305000000]: Parameter rot_stopped_vel is deprecated (and will not load properly). Use theta_stopped_vel instead.
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 3641.579000 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 3641.579000 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
[ INFO] [1631355735.944309776, 3641.678000000]: Recovery behavior will clear layer 'obstacles'
[ INFO] [1631355735.952075518, 3641.715000000]: Recovery behavior will clear layer 'obstacles'
[ INFO] [1631355736.238412973, 3641.840000000]: odom received!
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 3645.601000 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 3645.601000 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
Warning: Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 3651.242000 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 3651.242000 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
[ INFO] [1631355763.350000124, 3656.668000000]: Setting pose (3656.668000): 0.102 0.230 0.034
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 3661.757000 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 3661.757000 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 3662.627000 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 3662.627000 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 3666.930000 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 3666.930000 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
[ WARN] [1631355786.346197240, 3669.158000000]: Clearing both costmaps to unstuck robot (3.00m).
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 3670.263000 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 3670.263000 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 3673.399000 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 3673.399000 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
[ WARN] [1631355796.349657046, 3674.362000000]: Rotate recovery behavior started.
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 3678.098000 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 3678.098000 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
[ INFO] [1631355808.554632746, 3681.417000000]: Got new plan
[ERROR] [1631355808.554932574, 3681.417000000]: Extrapolation Error: Lookup would require extrapolation -0.041000000s into the future. Requested time 3681.400000000 but the latest data is at time 3681.359000000, when looking up transform from frame [odom] toframe [map]
[ERROR] [1631355808.554987601, 3681.417000000]: Global Frame: odom Plan Frame size 19: map
[ WARN] [1631355808.555031618, 3681.417000000]: Could not transform the global plan to the frame of the controller
[ERROR] [1631355808.555066387, 3681.417000000]: Could not get local plan
[ WARN] [1631355808.863791260, 3681.616000000]: Clearing both costmaps to unstuck robot (3.00m).
[ INFO] [1631355809.740570967, 3682.015000000]: Got new plan
[ERROR] [1631355809.740741458, 3682.015000000]: Extrapolation Error: Lookup would require extrapolation -0.036000000s into the future. Requested time 3681.994000000 but the latest data is at time 3681.958000000, when looking up transform from frame [odom] toframe [map]
[ERROR] [1631355809.740794416, 3682.015000000]: Global Frame: odom Plan Frame size 19: map
[ WARN] [1631355809.740830999, 3682.015000000]: Could not transform the global plan to the frame of the controller
[ERROR] [1631355809.740862956, 3682.015000000]: Could not get local plan
[ WARN] [1631355810.245261100, 3682.216000000]: Rotate recovery behavior started.
[ INFO] [1631355821.750200680, 3688.668000000]: Got new plan
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 3688.828000 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 3688.828000 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
[ INFO] [1631355822.141185631, 3688.883000000]: Got new plan
[ERROR] [1631355822.141343152, 3688.886000000]: Extrapolation Error: Lookup would require extrapolation -0.028000000s into the future. Requested time 3688.828000000 but the latest data is at time 3688.800000000, when looking up transform from frame [odom] toframe [map]
[ERROR] [1631355822.141392909, 3688.886000000]: Global Frame: odom Plan Frame size 19: map
[ WARN] [1631355822.141435540, 3688.886000000]: Could not transform the global plan to the frame of the controller
[ERROR] [1631355822.141473735, 3688.886000000]: Could not get local plan
[ WARN] [1631355822.538375406, 3689.078000000]: Clearing both costmaps to unstuck robot (1.84m).
[ INFO] [1631355823.059317755, 3689.469000000]: Got new plan
[ERROR] [1631355823.059827555, 3689.469000000]: Extrapolation Error: Lookup would require extrapolation -0.065000000s into the future. Requested time 3689.466000000 but the latest data is at time 3689.401000000, when looking up transform from frame [odom] toframe [map]
[ERROR] [1631355823.059891251, 3689.469000000]: Global Frame: odom Plan Frame size 19: map
[ WARN] [1631355823.059945525, 3689.469000000]: Could not transform the global plan to the frame of the controller
[ERROR] [1631355823.059994299, 3689.469000000]: Could not get local plan
[ WARN] [1631355823.447105019, 3689.671000000]: Rotate recovery behavior started.
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 3689.698000 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 3689.698000 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
^C[move_base-3] killing on exit