Timed out waiting for transform from base_footprint to map to become available before running costm

一、导航时，碰到下面警告：

[INFO] [1552392580.230013]: Waiting for move_base action server...

[ WARN] [1552392581.413405999]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.100023 timeout was 0.1.

该警告原因经过测试，当雷达前面20厘米以内放置障碍阻挡时，因为有效信息无法获取，导致导航信息获取转换失败，因此报错，针对此问题，后期每次启动导航时将雷达前面障碍尽可能清理就可以避免掉此问题。