Control loop missed its desired rate of 20.0000Hz... the loop actually took 0.1600 seconds

edit

Hi there,

why is this happening after I send a nav goal?

<launch>

    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find amcl)/rviz/amcl.rviz"/>

    <!-- Map server -->
    <arg name="map_file" default="$(find amcl)/maps/test_map.yaml"/>
    <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />

    <node pkg="amcl" type="amcl" name="amcl">

        <!-- Publish scans from best pose at a max of 10 Hz -->
        <remap from="scan" to="scan_multi"/>
        <param name="odom_model_type" value="omni"/>
        <param name="base_frame_id" value="base_footprint"/>
        <param name="update_min_d" value="0.5"/>
        <param name="update_min_a" value="1.0"/>
        <param name="odom_alpha5" value="0.1"/>
        <param name="transform_tolerance" value="0.2" />
        <param name="gui_publish_rate" value="10.0"/>
        <param name="laser_max_beams" value="30"/>
        <param name="min_particles" value="500"/>
        <param name="max_particles" value="5000"/>
        <param name="kld_err" value="0.05"/>
        <param name="kld_z" value="0.99"/>
        <param name="odom_alpha1" value="0.2"/>
        <param name="odom_alpha2" value="0.2"/>
        <!-- translation std dev, m -->
        <param name="odom_alpha3" value="0.8"/>
        <param name="odom_alpha4" value="0.2"/>
        <param name="laser_z_hit" value="0.5"/>
        <param name="laser_z_short" value="0.05"/>
        <param name="laser_z_max" value="0.05"/>
        <param name="laser_z_rand" value="0.5"/>
        <param name="laser_sigma_hit" value="0.2"/>
        <param name="laser_lambda_short" value="0.1"/>
        <param name="laser_lambda_short" value="0.1"/>
        <param name="laser_model_type" value="likelihood_field"/>
        <!--     <param name="laser_model_type" value="beam"/> -->
        <param name="laser_likelihood_max_dist" value="2.0"/>
        <param name="update_min_d" value="0.2"/>
        <param name="update_min_a" value="0.5"/>
        <param name="odom_frame_id" value="odom"/>
        <param name="resample_interval" value="1"/>
        <param name="transform_tolerance" value="0.3"/>
        <param name="recovery_alpha_slow" value="0.0"/>
        <param name="recovery_alpha_fast" value="0.0"/>

    </node>


    <!-- Move base -->
    <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">

       <rosparam file="$(find amcl)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
       <rosparam file="$(find amcl)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
       <rosparam file="$(find amcl)/config/local_costmap_params.yaml" command="load" />
       <rosparam file="$(find amcl)/config/global_costmap_params.yaml" command="load" />
       <rosparam file="$(find amcl)/config/trajectory_planner.yaml" command="load" />

       <remap from="cmd_vel" to="cmd_vel"/>
       <remap from="odom" to="odom"/>
       <remap from="scan" to="scan_multi"/>
       <param name="move_base/DWAPlannerROS/yaw_goal_tolerance" value="1.0"/>
       <param name="move_base/DWAPlannerROS/xy_goal_tolerance" value="1.0"/>

    </node>

</launch>

global_costmap:

global_frame: map
robot_base_frame: base_footprint
update_frequency: 5.0
publish_frequency: 2.0
width: 15
height: 15
rolling_window: true
inflation_radius: 0.1
resolution: 0.1
plugins: 
    - {name: static_layer,       type: "costmap_2d::StaticLayer"}

local_costmap:

global_frame: odom
robot_base_frame: base_footprint
update_frequency: 5
publish_frequency: 5
rolling_window: true
width: 3
height: 3
resolution: 0.1
inflation_radius: 0.1
plugins: 
    - {name: static_layer,       type: "costmap_2d::StaticLayer"}
    - {name: obstacle_layer,      type: "costmap_2d::ObstacleLayer"}

costmap_common params:

obstacle_range: 2.5
raytrace_range: 3.0
robot radius: 0.5
map_topic: map
subscribe_to_updates: true
observation_sources ...