Some errors and warning using Robot Localization

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Hello, im using robot_localization package. I am working GPS+IMU+ENCODER and using a RPLidar . The situation is the next one:

• When i launch all the necesary files to send goals and create paths ( move_base, map_server with a empty map, fusion senso for lozalization ) I see some things that are not working properly.

1. The first one is related with localization: I am getting a continuous jumping of position (x,y) in the final /odometry/filtered topic on the map frame. I read that is normal to get that discrete jumps, but they are being agressive and they're afecting the paths created because when the robot do that discrete jumps, the laser readings also changue repect to the map and if the robot moves enough the path could be totally distortioned trying to avoid forbiden areas that before was free.

Just to notice im getting this Warning on the Sheell (of NAVSTAT NODE):

Transform from base_link to map was unavailable for the time requested. Using latest instead

1. I am getting some error on the MOVE_BASE node, i don´t know why:

   - [ERROR] Extrapolation Error: Lookup would require extrapolation into the future.  Requested time 1647649070.614538908 but the latest data is at time 1647649070.575517893, when looking up transform from frame [odom] to frame [map]  
   
   - [ERROR] Global Frame: odom Plan Frame size 287: map
   
   - [ WARN]  Could not transform the global plan to the frame of the controller
   

I really would be gratefull to everybody can help me.

Thanks

...

EDIT1 (Files and TF tree)

• Tf tree: https://files.fm/f/4avk6un8d

• YAML files

Local EKF:

#Configuation for robot odometry EKF
#
  frequency: 20
  sensor_timeout: 0.06
  two_d_mode: true
  transform_time_offset: 0.0
  transform_timeout: 0.0
  print_diagnostics: false
  debug: false

  map_frame: map
  odom_frame: odom
  base_link_frame: base_link
  world_frame: odom

# -------------------------------------
# Wheel odometry:

  odom0: /odom_enc
  odom0_config: [false, false, false,
                 false, false, false,
                 true,  true,  false,
                 false, false, true,
                 false, false, false]
  odom0_queue_size: 10
  odom0_nodelay: true
  odom0_differential: false
  odom0_relative: false

# --------------------------------------
# imu configure:

  imu0: /imu/data
  imu0_config: [false, false, false,
                true,  true,  true,
                false, false, false,
                true,  true,  true,
                true,  false,  false]
  imu0_nodelay: false
  imu0_differential: false
  imu0_relative: false
  imu0_queue_size: 10
  imu0_remove_gravitational_acceleration: false

  process_noise_covariance: [1e-3, 0,    0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                             0,    1e-3, 0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                             0,    0,    1e-3, 0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                             0,    0,    0,    0.03,  0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                             0,    0,    0,    0,    0.03,  0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                             0,    0,    0,    0,    0,    0.01, 0,     0,     0,    0,    0,    0,    0,    0,    0,
                             0,    0,    0,    0,    0,    0,    0.5,   0,     0,    0,    0,    0,    0,    0,    0,
                             0,    0,    0,    0,    0,    0,    0,     0.5,   0,    0,    0,    0,    0,    0,    0,
                             0,    0,    0,    0,    0,    0,    0,     0,     0.1,  0,    0,    0,    0,    0,    0,
                             0,    0,    0,    0,    0,    0 ...