ROS常见问题 Costmap2DROS transform timeout

环境

Ubuntu18.04
ROS melodic/rosversion: 1.14.11

复现

使用roslaunch启动cartographer建图的launch文件

BUG

[ WARN] [1641399005.735130230, 288.497000000]: Costmap2DROS transform timeout. Current time: 288.4970, global_pose stamp: 271.4220, tolerance: 10.0000

原因

①转换超时
②全局坐标系与局部坐标系不同

解决①

修改transform_tolerance参数

针对本次错误，修改了local_costmap_params.yaml、global_c