Nav2 [local_costmap.local_costmap]: Sensor origin: out of map bounds. The costmap can't raytrace for it.

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Hello, I recently started getting this warning when I launch the Nav2

[local_costmap.local_costmap]: Sensor origin: (1.60, 0.00, 0.96), out of map bounds. The costmap can't raytrace for it

I have never saw this warning and of course I can't remember what changes I made. But regardless, I really have no clue how to address this. I don't even know where to start from.
Of course I googled a little and found something but I'm not sure it's related to my issue: https://answers.ros.org/question/3809...

My Nav2 params are:

amcl:
  ros__parameters:
    use_sim_time: True
    alpha1: 0.2
    alpha2: 0.2
    alpha3: 0.2
    alpha4: 0.2
    alpha5: 0.2
    base_frame_id: "base_link"
    beam_skip_distance: 0.5
    beam_skip_error_threshold: 0.9
    beam_skip_threshold: 0.3
    do_beamskip: false
    global_frame_id: "map"
    lambda_short: 0.1
    laser_likelihood_max_dist: 2.0
    laser_max_range: 20.0
    laser_min_range: 0.1
    laser_model_type: "likelihood_field"
    max_beams: 60
    max_particles: 2000
    min_particles: 500
    odom_frame_id: "odom"
    pf_err: 0.05
    pf_z: 0.99
    recovery_alpha_fast: 0.0
    recovery_alpha_slow: 0.0
    resample_interval: 1
    robot_model_type: "differential"
    save_pose_rate: 0.5
    sigma_hit: 0.2
    tf_broadcast: true
    transform_tolerance: 1.0
    update_min_a: 0.2
    update_min_d: 0.25
    z_hit: 0.5
    z_max: 0.05
    z_rand: 0.5
    z_short: 0.05
    scan_topic: scan

amcl_map_client:
  ros__parameters:
    use_sim_time: True

amcl_rclcpp_node:
  ros__parameters:
    use_sim_time: True

bt_navigator:
  ros__parameters:
    use_sim_time: True
    global_frame: map
    robot_base_frame: base_link
    odom_topic: /odometry/filtered
    enable_groot_monitoring: True
    groot_zmq_publisher_port: 1666
    groot_zmq_server_port: 1667
    default_bt_xml_filename: "navigate_w_replanning_and_round_robin_recovery"
    plugin_lib_names:
    - nav2_compute_path_to_pose_action_bt_node
    - nav2_follow_path_action_bt_node
    - nav2_back_up_action_bt_node
    - nav2_spin_action_bt_node
    - nav2_wait_action_bt_node
    - nav2_clear_costmap_service_bt_node
    - nav2_is_stuck_condition_bt_node
    - nav2_goal_reached_condition_bt_node
    - nav2_goal_updated_condition_bt_node
    - nav2_initial_pose_received_condition_bt_node
    - nav2_reinitialize_global_localization_service_bt_node
    - nav2_rate_controller_bt_node
    - nav2_distance_controller_bt_node
    - nav2_speed_controller_bt_node
    - nav2_truncate_path_action_bt_node
    - nav2_goal_updater_node_bt_node
    - nav2_recovery_node_bt_node
    - nav2_pipeline_sequence_bt_node
    - nav2_round_robin_node_bt_node
    - nav2_transform_available_condition_bt_node
    - nav2_time_expired_condition_bt_node
    - nav2_distance_traveled_condition_bt_node

bt_navigator_rclcpp_node:
  ros__parameters:
    use_sim_time: True

controller_server:
  ros__parameters:
    use_sim_time: True
    controller_frequency: 10.0
    min_x_velocity_threshold: 0.005
    min_y_velocity_threshold: 0.005
    min_theta_velocity_threshold: 0.01
    failure_tolerance: 0.3
    odom_topic: /odometry/filtered
    progress_checker_plugin: "progress_checker"
    goal_checker_plugins: ["goal_checker"]
    controller_plugins: ["FollowPath"]

    progress_checker:
      plugin: "nav2_controller::SimpleProgressChecker"
      required_movement_radius: 0.05
      movement_time_allowance: 10.0
    goal_checker:
      plugin: "nav2_controller::SimpleGoalChecker"
      xy_goal_tolerance: 0.2 # 0.25
      yaw_goal_tolerance: 0.1 #0.25
      stateful: True
    # TEB parameters
    # http://wiki.ros.org/teb_local_planner
    FollowPath:
      plugin: "teb_local_planner::TebLocalPlannerROS"
      odom_topic: odom
      map_frame: map

      # footprint_model.type: circular
      # footprint_model.radius: 2.0
      footprint_model.type: polygon
      footprint_model.vertices: "[ [1.54, 0.405], [1.54, -0.405], [-0.2, -0.405], [-0.2, 0.405] ]"

      min_turning_radius: 2.0
      wheelbase: 1.35
      cmd_angle_instead_rotvel: true
      min_obstacle_dist: 5.0
      inflation_dist: 1.0
      costmap_converter_plugin: "costmap_converter::CostmapToPolygonsDBSMCCH"
      costmap_converter_spin_thread: True
      costmap_converter_rate: 15
      enable_homotopy_class_planning: True
      enable_multithreading: True
      optimization_verbose: False
      teb_autoresize: True
      min_samples: 3
      max_samples: 20
      max_global_plan_lookahead_dist: 10.0
      visualize_hc_graph: True
      max_vel_x: 0.75
      max_vel_x_backwards: 0.2
      max_vel_y: 0.0 # should be zero for non-holonomic robots
      acc_lim_y: 0.05
      max_vel_theta: 0.5
      acc_lim_x: 0.5
      acc_lim_theta: 0.1
      yaw_goal_tolerance: 0.2
      xy_goal_tolerance: 0.1
      include_costmap_obstacles: True
      publish_feedback: True

costmap_converter:
  ros__parameters:
    use_sim_time: True

controller_server_rclcpp_node:
  ros__parameters:
    use_sim_time: True

local_costmap:
  local_costmap:
    ros__parameters:
      update_frequency: 1.0
      publish_frequency: 1.0
      global_frame: odom
      robot_base_frame: base_link
      use_sim_time: True
      rolling_window: true
      width: 10
      height: 10
      origin_x: -2.0 # Relative to width
      # origin_y: 0.0 # Relative to height
      resolution: 0.05
      # Length 1.74 m
      # Width 0.81 m
      footprint: "[ [1.54, 0.405], [1.54, -0.405], [-0.2, -0.405], [-0.2, 0.405] ]"
      # robot_radius: 0 ...