"map update loop missed" happen frequently when robot path plan and run

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Hello,

My robot is planning path and controlling velocity with move_base.
In many cases, it seems to be working properly.
However, there were times when it suddenly started rotating in place or recovery behaviors was run even though there were no obstacles.
I checked rosout log at this time, and I found that "map update loop missed" log remained.

Further investigation revealed the following.

• I set update_frequency of global costmap to 10 Hz, but there was a delay in seconds, and in the worst case, it was delayed by about 20 seconds.
• I analyzed bag file using rqt_bag, footprint of local costmap was constantly updated, but only footprint of global costmap was rarely updated.
• These phenomena occurred only during path planning and running, and did not occur when no goal was set for move_base. In those idle time, also footprint of global costmap was published in correct frequency. (I set shutdown_costmaps of move_base to true.)
• I compiled move_base package with catkin_make using -DCMAKE_BUILD_TYPE=Release.
• I also watched the CPU and memory resources, but it seemed that there was still about 40% left.
• The size of map (.pgm) that global costmap subscribe is over 30 MB...

I don't know what to look for, so please give me some wisdom.
How to fix it is also welcome.

Thanks in advance.

costmap_params_common.yaml

robot_radius: 0.35
footprint_padding: 0.05
obstacle_layer:
  observation_sources: scan1 scan2 scan3
  obstacle_range: 4.5
  raytrace_range: 4.9
  track_unknown_space: true
  footprint_clearing_enabled: false

  scan1: {sensor_frame: scan1_frame, data_type: LaserScan, topic: scan1, marking: true, clearing: true}
  scan2: {sensor_frame: scan2_frame, data_type: LaserScan, topic: scan2, marking: true, clearing: true}
  scan3: {sensor_frame: scan3_frame, data_type: LaserScan, topic: scan3, marking: true, clearing: true}

global_costmap_params.yaml

global_costmap:
  global_frame: map
  robot_base_frame: base_link
  update_frequency: 10.0
  publish_frequency: 0.5

  width: 10.0
  height: 10.0

  plugins:
   - {name: static_layer, type: 'costmap_2d::StaticLayer'}
   - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
   - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}

  inflation_layer:
    cost_scaling_factor: 5.0
    enabled: true
    inflate_unknown: false
    inflation_radius: 1.2

  resolution: 0.025
  static_map: true
  rolling_window: false
  transform_tolerance: 0.5
  meter_scoring: true

local_costmap_params.yaml

local_costmap:
  global_frame: odom
  robot_base_frame: base_link
  update_frequency: 10.0
  publish_frequency: 0.2

  width: 7.0
  height: 7.0

  plugins:
   - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
   - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}

  inflation_layer:
    cost_scaling_factor: 5.0
    enabled: true
    inflate_unknown: false
    inflation_radius: 1.0

  resolution: 0.025
  static_map: false
  rolling_window: true
  transform_tolerance: 0.5
  meter_scoring: true