报错内容:
Error: Lookup would require extrapolation into the future. Requested time 1666945228.908213219 but the latest data is at time 1666945228.907838500, when looking up transform from frame [odom] to frame [map]
Global Frame: odom Plan Frame size 37: map
解决方法:
1,加大全局地图更新和发布频率
2,减小机器人姿态发布频率(应该是odom发布频率)