base_scan observation buffer has not been updated

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Hi, everyone

I am using Hokuyo UTM-30LX-EW for navigation. When I roslaunch .launch file for navigaiton, it always gives warning： The base_scan observation buffer has not been updated for 0.66 seconds, and it should be updated every 0.4 seconds. I am not sure what's wrong with it, and how to get rid of the warning? Thanks.

These are the yaml files:

local_costmap:

publish_voxel_map: true

global_frame: /map

robot_base_frame: base_footprint

update_frequency: 5.0

publish_frequency: 2.0

static_map: false

rolling_window: true

width: 6.0

height: 6.0

resolution: 0.05

origin_x: 0.0

origin_y: 0.0

global_costmap:

global_frame: /map

robot_base_frame: base_footprint

update_frequency: 5.0

publish_frequency: 0.0

static_map: true

rolling_window: false

costmap_common_params:

map_type: voxel

origin_z: 0.0

z_resolution: 0.2

z_voxels: 10

unknown_threshold: 10

mark_threshold: 0

transform_tolerance: 0.3

obstacle_range: 3.0

max_obstacle_height: 2.0

raytrace_range: 5.0

footprint: [[0.176, -0.185], [-0.176, -0.185], [-0.411, 0.0], [-0.176, 0.185], [0.176, 0.185]]

footprint_padding: 0.00

inflation_radius: 0.55

cost_scaling_factor: 10.0

lethal_cost_threshold: 100

observation_sources: base_scan

base_scan: {data_type: LaserScan, expected_update_rate: 0.4, observation_persistence: 0.0, marking: true, clearing: true, max_obstacle_height: 1.0, min_obstacle_height: 0.08}