Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame odom at time 338.607000 a

Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame odom at time 338.607000 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 odom at time 338.607000 according to authority unknown_publisher
         at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
[ WARN] [1679897632.837627580, 338.557000000]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame odom at time 338.607000 according to authority unknown_publisher

关键步骤1：launch中增加下段代码，保持频率10000hz一致

    <node pkg="tf" type="static_transform_publisher" name="odom_to_base_footprint" args="0.0 0.0 0.0 0 0 0.0 /odom /base_footprint 10000"/>