How to update navigation package from kinetic to melodic？

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Hi, I am now upgrading the robot system from kinetic to melodic. In kinetic, my robot can run perfectly.

I directly replaced the kinetic navigation package with the melodic navigation package in workspace.Also,I kept the yaml and launch file of ros kinetic and made some changes to melodic but there is some error in the navigation package.And my Error like this.

[ INFO] [1538375948.914403476]: Got new plan
[ERROR] [1538375948.914494414]: Extrapolation Error: Lookup would require extrapolation into the future.  Requested time 1538375948.918941058 but the latest data is at time 1538375948.914756447, when looking up transform from frame [odom] to frame [map]

[ERROR] [1538375948.914534395]: Global Frame: odom Plan Frame size 50: map
[ WARN] [1538375948.914546917]: Could not transform the global plan to the frame of the controller
[ERROR] [1538375948.914558586]: Could not get local plan

What caused it and what should I do to solve it ?Or how to find the standard configuration reference file for the melodic navigation package?

This is my melodic configuration. https://github.com/Rikyuugo/navigatio...

Any comments are welcome