ROS常见问题 Costmap2DROS transform timeout
环境
Ubuntu18.04
ROS melodic/rosversion: 1.14.11
复现
使用roslaunch启动cartographer建图的launch文件
BUG
[ WARN] [1641399005.735130230, 288.497000000]: Costmap2DROS transform timeout. Current time: 288.4970, global_pose stamp: 271.4220, tolerance: 10.0000
原因
①转换超时
②全局坐标系与局部坐标系不同
解决①
修改transform_tolerance参数
针对本次错误,修改了local_costmap_params.yaml、global_c