Why i keep getting this error i don't understand .Is there anyone who can help me solve this problem ? . I saw some answers in a same problem but didn't solved it with any of them

(don't pay attention to vel and acc values cause i am using stepper motors where i just translate those values later into suitable velocities )

TrajectoryPlannerROS:

# Robot Configuration Parameters
  max_vel_x: 0.8
  min_vel_x: 0.5

  max_vel_theta:  0.8
  min_vel_theta: -0.8
  min_in_place_vel_theta: 0.8

  acc_lim_x: 1.0
  acc_lim_y: 0.0
  acc_lim_theta: 1.0

# Goal Tolerance Parameters
  xy_goal_tolerance: 0.10
  yaw_goal_tolerance: 0.05
  latch_xy_goal_tolerance: false

# Differential-drive robot configuration
  holonomic_robot: false

################
#costmap_common_params 

footprint: [[0.14, 0.15], [-0.14, 0.15],[-0.14, -0.15],[0.14,-0.15]]

transform_tolerance: 0.6

observation_sources: laser_scan_sensor # also we can (point_cloud_sensor)
laser_scan_sensor: {sensor_frame: base_scan, data_type: LaserScan, topic: scan, marking: true, clearing: true}

obstacle_layer:
 enabled: true
 obstacle_range: 3.5
 raytrace_range: 3.5
 inflation_radius: 0.2
 track_unknown_space: false
 combination_method: 1

inflation_layer:
  enabled:              true
  cost_scaling_factor:  5.0  # exponential rate at which the obstacle cost drops off (default: 10)
  inflation_radius:     0.13   # max distance from an obstacle at which costs are incurred for plann>

static_layer:
  enabled:              true
  map_topic:            "map"
  subscribe_to_updates: true

##############################################
global_costmap:
  global_frame: map
  robot_base_frame: base_link
  rolling_window: false
  update_frequency: 2.0
  publish_frequency: 1.0
  static_map: true

  transform_tolerance: 0.5
  plugins:
    - {name: static_layer,            type: "costmap_2d::StaticLayer"}
    - {name: obstacle_layer,          type: "costmap_2d::VoxelLayer"}
    - {name: inflation_layer,         type: "costmap_2d::InflationLayer"}


local_costmap:
  global_frame: map
  robot_base_frame: base_link
  update_frequency: 2.0
  publish_frequency: 1.0
  static_map: false
  rolling_window: true
  width: 1.0
  height: 1.0
  resolution: 0.1
  transform_tolerance: 0.5

  plugins:
   - {name: static_layer,        type: "costmap_2d::StaticLayer"}
   - {name: obstacle_layer,      type: "costmap_2d::ObstacleLayer"}

################################
#move_base_params

shutdown_costmaps: false
controller_frequency: 10.0
planner_patience: 5.0
controller_patience: 15.0
conservative_reset_dist: 3.0
planner_frequency: 5.0
oscillation_timeout: 10.0
oscillation_distance: 0.2