ROS导航TF变换时间戳报错

[ERROR] [1700700067.452600455, 1377.380000000]: Extrapolation Error: Lookup would require extrapolation 0.005000000s into the future.  Requested time 1377.380000000 but the latest data is at time 1377.375000000, when looking up transform from frame [odom] to frame [map]

[ERROR] [1700700067.452646719, 1377.380000000]: Global Frame: odom Plan Frame size 255: map

[ WARN] [1700700067.452671970, 1377.380000000]: Could not transform the global plan to the frame of the controller
[ WARN] [1700700067.452734990, 1377.380000000]: No velocity command received from controller! Could not transform the global plan to the frame of the controller

原因：AMCL中odom到map的tf变换太慢，达不到导航的要求

解决：

        由于激光雷达的采样频率太低造成的，仿真环境下可以在雷达的xacro文件中调高雷达扫描频率到20Hz ；

        真实环境中可以查一下雷达型号的扫描频率，如果是10Hz，可能达不到精确导航的要求，只能将local_costmap的global_frame改为和global_costmap的global_frame一样，都用map，按官方的设定是将global_costmap的global_frame设为map，local_costmap的global_frame设为odom，以实现更好的局部避障效果。