ROS,Tiago gmapping many erros & warnings

Hi all, I start to work with Tiago and my first task is autonomous navigation.
But I got many warnings and error by following the Tiago-Tutorials in Wiki-Ros.
My workstation is running with ROS-Indigo. **Executed command:**
droid@M6600:~/tiago_public_ws$ roslaunch tiago_2dnav_gazebo tiago_mapping_public.launch **Warnings**:
- The complete state of the robot is not yet known. Missing gripper_left_finger_joint, gripper_right_finger_joins
- TF_OLD_DATA ignoring data from the past for frame odom at time 135.951 according to authority unknown_publisher
**@TF_OLD_DATA** Set the following line in 'tiago_mapping_public.launch', without any success. Then set the parameter with 'rosparam set use_sim_time true' without any success. Still recieve the warning. **@ gripper_left_finger_joint, gripper_right_finger_joins** Can not understand this message? Why is the robot(tiago) state not known? **Error 1:**
[ERROR] [WallTime: 1507279517.616354] [0.000000] Failed to load joint_state_controller
[ERROR] [WallTime: 1507279517.912537] [0.000000] Failed to load imu_sensor_controller
[ERROR] [WallTime: 1507279517.912547] [0.000000] Failed to load gripper_controller
**Error 2:** After killing the running command above
[ERROR] [1507272826.100795595, 142.018000000]: Joint 'hand_index_abd_joint' not found in model 'tiago' [ERROR] [1507272826.100850983, 142.018000000]: Joint 'hand_index_flex_1_joint' not found in model 'tiago' [ERROR] [1507272826.100881901, 142.018000000]: Joint 'hand_index_flex_2_joint' not found in model 'tiago' [ERROR] [1507272826.100915909, 142.018000000]: Joint 'hand_index_flex_3_joint' not found in model 'tiago' [ERROR] [1507272826.100947619, 142.019000000]: Joint 'hand_index_joint' not found in model 'tiago'
[ERROR] [1507272826.100975658, 142.019000000]: Joint 'hand_index_virtual_1_joint' not found in model 'tiago'
[ERROR] [1507272826.101006027, 142.019000000]: Joint 'hand_index_virtual_2_joint' not found in model 'tiago'
[ERROR] [1507272826.101036851, 142.019000000]: Joint 'hand_index_virtual_3_joint' not found in model 'tiago'
[ERROR] [1507272826.101064825, 142.019000000]: Joint 'hand_little_abd_joint' not found in model 'tiago'
[ERROR] [1507272826.101089220, 142.019000000]: Joint 'hand_little_flex_1_joint' not found in model 'tiago'
[ERROR] [1507272826.101112872, 142.019000000]: Joint 'hand_little_....................... How can I fix this error? If I ignore all the warnings and errors, I can still start with mapping.
In rviz I can move Tiago around the rooms & floors. By saving the map with : droid@M6600:~/tiago_public_ws$ rosservice call /pal_map_manager/save_map "directory: '3XC12'" I got the following message: **ERROR: Unable to load type [pal_navigation_msgs/SaveMap].
Have you typed 'make' in [pal_navigation_msgs]?**
Bevor starting with mapping, I already execute 'catkin build', with the result: [build] Summary: All 82 packages succeeded! [build] Ignored: 8 packages were skipped or are blacklisted. [build] Warnings: None. [build] Abandoned: None. [build] Failed: None. [build] Runtime: 32.3 seconds total. Therefore the type 'pal_navigation_msgs' must be available on my local workstation !?! **Error 3:** Sometimes after rebooting or starting Tiago in web-commander under 'Diagnostics' I got the following error: Full Name: /Functionality/Startup control/mm11_cfg
Message: Crashed
cmd: rosrun mm11_cfg_tiago mm11_cfg.py
log_file: /tmp/ros_logs/b683d704-aa6f-11e7-82e9-305a3a561cca//mm11_cfg-1.pal.log
dependencies: Hardware: MM11 Hardware: Sonar
Restarting the service doesn't fix the error, I have to restart Tiago with 'shutdown -r now'. Dont know how to fix all the errors & warnings I really appreciate any help you can provide.