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The warning message is telling you the planner's cpu calculations are taking longer than the 50 milliseconds you have allowed it. There are multiple ways you can correct this:

• if you compiled the planner yourself, make sure you are creating a Release build. not a Debug build. On most machines, Release build code is better cpu-optimized and executes much faster.

• change the local planner configuration so the planner has less work to do e.g. reduce the search space.

• if your cpu is too weak, tell the planner to execute less often.

Note: you need to understand the inertial characteristics of your robot to choose a good planner frequency. You're wasting valuable cpu if you execute the planner at high frequency, but the robot's motor controller is unable to react to those fast changes in cmd_vel.