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My guess is that your global costmap is just too small. Either make it bigger by explicitly setting the width and height parameters or enable rolling_window.
Btw. the local_costmap should be in the odom frame, not in the map frame. It is important that the local costmap is in a continuous frame that does not 'jump'. Jumps in the local costmap's global frame would cause obstacles to be blurred which can have a negative effect on the local planner.
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My guess is that your global costmap is just too small. Either make it bigger by explicitly setting the width and height parameters or enable rolling_window.
Btw. the local_costmap should be in the odom frame, not in the map frame. It is important that the local costmap is in a continuous frame that does not 'jump'. Jumps in the local costmap's global frame would cause obstacles to be blurred which can have a negative effect on the local planner.
Edit: I think to isolate the problem, we should first find out if the global or the local costmap is generating the warning. Start rxconsole and double-click on the warning in there. It will show you information about the logger that generated the warning. Did you try setting the local costmap's global frame to odom?
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