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On a system that is slightly underpowered, you may see this error occasionally. As long as it's happening infrequently, perhaps only once every few minutes, you should be able to ignore it.
Alternatively, you could capture tf and scan data as a bag file and run gmapping offline, when other nodes aren't competing with it for CPU and memory. See: http://ros.org/wiki/slam_gmapping(2f)Tutorials(2f)MappingFromLoggedData.html
If you're seeing this more than once per second, it means that there's something wrong with your odometry source.