Costmap Configuration in ROS Navigation
I have been working with ROS Localization and ROS Navigation on a robot and I noticed that default frame id (odom) of the local costmap throws the following error when a goal is sent:
[ERROR] [1468101999.060938901]: Extrapolation Error: Lookup would require extrapolation into the future. Requested time 1468102000.826297045 but the latest data is at time 1468102000.823431077, when looking up transform from frame [base_link] to frame [map]
However, when i change the frame id to Map, as explained in this comment, I don't receive any error and the robot navigates to the goal point without any issue (more or less - the robot stops based on the location provided by/odometry/filtered_map topic even when I provide /odometry/filtered topic to the move_base. Is there a fundamental flaw in my understanding of the configuration or is that how it works?
local_costmap:
global_frame: map
robot_base_frame: base_link
update_frequency: 5.0
publish_frequency: 4.0
static_map: false
rolling_window: true
width: 12.0
height: 12.0
resolution: 0.15
I couldn't add the file because I don't have enough Karma.