【ROS+PC2toLS】报错：Can‘t transform pointcloud from frame camera_init to camera_link at xxx

笔记：

1、在launch文件<rosparam>中加入“target_frame: xxxx”，xxx为自己的TF树中激光雷达（发布点云设备的）的名字，参考的：使用mid360从0开始搭建实物机器人入门级导航系统，基于Fast_Lio,Move_Base-CSDN博客

故改为：target_frame: camera_init

2、最后程序跑起来、rviz发布目标点之后， /cmd_vel始终没有数据输出

刚开始使用bag出现该问题、后连接使用实物成功过，后来需要演示，使用bag又出现该问题，考虑到提示：

[ WARN] [1716536138.404802029]: Timed out waiting for transform from body_foot to map to become available before running costmap, tf error: Lookup would require extrapolation 1309229.989584923s into the past.  Requested time 1715226903.509751081 but the earliest data is at time 1716536133.499336004, when looking up transform from frame [body_foot] to frame [map]. canTransform returned after 0.100708 timeout was 0.1.
问题很可能出在：1、body_foot to map转换耗时太久；2、与话题的时间戳、时间对齐相关