报错信息:
[ERROR] [1676604772.533740294, 570.916000000]: Extrapolation Error: Lookup would require extrapolation 0.021000000s into the future. Requested time 570.910000000 but the latest data is at time 570.889000000, when looking up transform from frame [odom] to frame [map]
[ERROR] [1676604772.534178566, 570.917000000]: Global Frame: odom Plan Frame size 137: map
感觉跟坐标变换和时间戳有关,疑是move_base的配置文件中哪个坐标系配置错了,或者坐标变换发布频率不一致
查看对应的global costmap 与 local costmap 配置文件,两者的更新频率和发布频率确实不同
将两者的对应频率设置为相同的值以后,报错解决!