ROS警告解决local_costmap: Pre-Hydro parameter “static_map“ unused since “plugins“ is provided

在ROS机器人仿真运行过程中出现static_map和map_type的警告，它们是因为ROS中已经提供了这两个的插件，我们又在move_base的参数文件中设置了但没用到，只需要删除掉即可

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1.local_costmap或者global_costmap: Pre-Hydro parameter "static_map" unused since "plugins" is provided

解决办法：在move_base包中找到local_costmap_params.yaml和global_costmap_params.yaml文件打开

删掉“static_map:false”这一行
2.local_costmap和global_costmap: Pre-Hydro parameter "map_type" unused since "plugins" is provided

解决办法：在move_base包中找到costmap_common_params.yaml文件打开

删除“map_type: costmap”这一行
修改完重新运行时可能会报警告：

Timed out waiting for transform from robot_0/base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.1 timeout was 0.1.

如果之前未报此类警告只需把虚拟机重启再运行警告就会消失。