Hi there,

I am using the P3DX robot to navigate an indoor environment using the SICK 500 LIDAR. I have brought up the robot using rosarnl.

I have defined my yaml parameters as follows:

• Costmapcommonparams.yaml

  obstacle_range: 0.1
  raytrace_range: 0.1
  #footprint: [[-115.375, -15.144], [-199.803, 93.368], [-7.863, 115.870], [58.644, -37.710]]
  robot_radius: 0.4699  #meters
  inflation_radius: 0.2048 #1 feet
  
  observation_sources: laser_scan_sensor point_cloud_sensor
  
  laser_scan_sensor: {sensor_frame: laser_frame, data_type: LaserScan, topic: /rosarnl_node/lms5XX_1_laserscan, marking: true, clearing: true}
  
   point_cloud_sensor: {sensor_frame: odom, data_type: PointCloud, topic: /rosarnl_node/lms5XX_1_pointcloud, marking: true, clearing: true}
  

• globalcostmapparams.yaml

   global_costmap:
   global_frame: map
   robot_base_frame: base_link
  update_frequency: 1.0
  publish_frequency: 5.0
  static_map: true
  sensor_frame: laser_frame
  width: 160.3
  height: 160.773
  origin_x: -77.702
  origin_y: -56.819
  

• localcostmapparams.yaml

          local_costmap:
         global_frame: base_link #map 
         robot_base_frame: laser_frame
         update_frequency: 1.0
         publish_frequency: 5.0
         static_map: false
         rolling_window: true # must be set to false to use static map
         resolution: 0.5
         transform_tolerance: 0.5 #tolerable delay in seconds
  
         width: 160.3
         height: 160.773
         origin_x: -70.702
         origin_y: -66.819
  

• baselocalplanner_params.yaml

      TrajectoryPlannerROS:
      #Robot Configuration Parameters
      max_vel_x: 1.2
     min_vel_x: 0.2
     max_vel_theta: 1.0
     min_in_place_vel_theta: 0.4
  
     acc_lim_theta: 1.2
     acc_lim_x: 1.5
     acc_lim_y: 1.5
  
     #Trajectory scoring parameters: http://wiki.ros.org/base_local_planner#Map_Grid
     escape_vel: -0.3 #speed for escaping when stuck
     meter_scoring: true
      sim_time: 0.5
      dwa: true #use dynamic window approach
      publish_cost_grid: true
      global_frame_id: base_link #Should be set to the same frame as the local costmap's global frame
  
      holonomic_robot: true
  

For some reason, when I send goals via the actionlib simple action client to move_base/goal, I get the following errors:

``` ERROR] [1468101998.962293754]: Global Frame: base_link Plan Frame size 205: map

      [ WARN] [1468101998.962348736]: Could not transform the global plan to the frame of the controller
      [ERROR] [1468101999.060938901]: Extrapolation Error: Lookup would require extrapolation into the future.   Requested time 1468102000.826297045 but the latest data is at time 1468102000.823431077, when looking up transform  from frame [base_link] to frame [map]

     [ERROR] [1468101999.061004147]: Global Frame: base_link Plan Frame size 205: map

     [ WARN] [1468101999.061030274]: Could not transform the global plan to the frame of the controller

``` EDIT 1: v0.1 tag contains the correct code The amcl launch script is here if it helps.

Thanks guys!