when tf2::ExtrapolationException occured, move_base died

edit

I'm not sure if this is your issue or not as I never use sick_tim pkg.

But I think the issue is in the transform :

Requested time 806.12... but the latest data is at time 806.08... when looking up transform from frame [odom] to frame [map]

Take a look at tf and time : http://wiki.ros.org/tf/Tutorials/tf%2...

I suspect that you use ros::Time::now().

You should use ros::Time(0) instead to get the latest available transform in the buffer. Because there is a travel time in between sending the transform and receiving it in the buffer.

Alternatively you can use ros::Time::now() - delay

EDIT:

See the change log

adjust time stamp - last scan point = now ==> first scan point = now - 271 * time increment - also just assume 0.001 s USB latency between scanner and PC for now this avoids TF ExtrapolationExceptions (cannot project into future)

You may try increasing the time difference e.g. the 271 to 350