TF_OLD_DATA ignoring data from the past for frame base_footprint
I am new in working with Turtlebot 3 and ROS.
I am working with TurtleBot 3-Burger (Rasberry Pi 3) and ROS Kinetic.
I have a lunch file to lunch all my necessary nodes. When I run the lunch file in the workstation PC, I will get this error:
Warning: TF_OLD_DATA ignoring data from the past for frame base_link at time 26.5 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
at line 277 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp
I run roscore
on the workstation PC and run roslaunch turtlebot3_bringup turtlebot3_robot.launch
on robot PC. Then, I launch mt launch file.
My launch file code:
<!-- PC: roscore-->
<!-- ROBOT: roslaunch turtlebot3_bringup turtlebot3_robot.launch-->
<!-- PC-run this launcher: roslaunch tb3Navigation mapNavigation.launch !!!!!-->
<!-- PC-run the code: rosrun tb3Navigation map_navigation !!!!!-->
<launch>
<param name="use_sim_time" value="true"/>
<!-- roslaunch turtlebot3_bringup turtlebot3_model.launch-->
<arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger]"/>
<include file="$(find turtlebot3_bringup)/launch/includes/description.launch.xml">
<arg name="model" value="$(arg model)" />
</include>
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
<param name="publish_frequency" type="double" value="50.0" />
</node>
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
<param name="use_gui" value="true"/>
</node>
<!--<node name="rviz1" pkg="rviz" type="rviz" args="-d $(find turtlebot3_description)/rviz/model.rviz"/>-->
<!-- Map -->
<!-- call Map and World file -->
<arg name="map_file" default=" $(find tb3Navigation)/maps/mapFloor01.yaml"/>
<arg name="world_file" default=" $(find tb3Navigation)/maps/stage/mapFloor01.world"/>
<!-- Stage -->
<node pkg="stage_ros" type="stageros" name="stageros" args="$(arg world_file)">
<param name="base_watchdog_timeout" value="0.5"/>
<remap from="odom" to="odom"/>
<remap from="base_pose_ground_truth" to="base_pose_ground_truth"/>
<remap from="cmd_vel" to="mobile_base/commands/velocity"/>
<remap from="base_scan" to="scan"/>
</node>
<node pkg="nodelet" type="nodelet" name="mobile_base_nodelet_manager" args="manager"/>
<node pkg="nodelet" type="nodelet" name="cmd_vel_mux" args="load yocs_cmd_vel_mux/CmdVelMuxNodelet mobile_base_nodelet_manager">
<param name="yaml_cfg_file" value="$(find turtlebot_bringup)/param/mux.yaml"/>
<remap from="cmd_vel_mux/output" to="mobile_base/commands/velocity"/>
</node>
<!-- Map server -->
<node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)">
<param name="frame_id" value="/map"/>
</node>
<!-- need to change -->
<arg name="initial_pose_x" default="3.31"/>
<arg name="initial_pose_y" default="4.20"/>
<arg name="initial_pose_a" default="0.0"/>
<!-- AMCL - the first location -->
<include file="$(find turtlebot3_navigation)/launch/amcl.launch.xml">
<arg name="scan_topic" value="scan"/>
<!--<arg name="use_map_topic" value="true"/>-->
<arg name="initial_pose_x" value="$(arg initial_pose_x)"/>
<arg name="initial_pose_y" value="$(arg initial_pose_y)"/>
<arg name="initial_pose_a" value="$(arg initial_pose_a)"/>
</include>
<!-- Move_base -->
<arg name="cmd_vel_topic" default="/cmd_vel" />
<arg name="odom_topic" default="odom" />
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" />
<rosparam file="$(find turtlebot3_navigation)/param/costmap_common_params_$(arg model).yaml" command="load" ns="global_costmap" />
<rosparam file="$(find turtlebot3_navigation)/param/costmap_common_params_$(arg model).yaml" command="load" ns="local_costmap" />
<rosparam file="$(find turtlebot3_navigation)/param/local_costmap_params.yaml" command="load" />
<rosparam file="$(find turtlebot3_navigation)/param/global_costmap_params.yaml" command="load" />
<rosparam file="$(find turtlebot3_navigation)/param/move_base_params.yaml" command="load" />
<rosparam file="$(find turtlebot3_navigation)/param/dwa_local_planner_params.yaml" command="load" />
<remap from="cmd_vel" to="$(arg cmd_vel_topic)"/>
<remap from="odom ...