nav2 teb 'lookup would require extrapolation into the future'

edit

TF issues can be caused by so many things its really hard to generally debug for someone else without doing it myself. I will say:

• Check your odom->map publisher, make sure its publishing fast enough and slightly into the future since this leads your system

• Check your robot state publisher, make sure its publishing fast enough

• Check your outputs of RL and make sure that's fast enough

Almost all TF problems like that boil down in my experience to:

• Poorly setup custom RL configs / sensor publishing / transform update rates

• Your SLAM or localizer isn't leading the system a little bit

• You're running on a tiny tiny CPU and overloading it (disguard if i3 or better)

This is the type of things you toil with once when you set up a new robot and hopefully never touch again afterwards.