NAV2:Sensor origin at (0.07, -0.00) is out of map bounds. The costmap cannot raytrace for it

edit

I'm trying to build a full bot on Ros2 foxy. I'm using RPLidar sensor, Slam Toolbox for creating maps, custom nodes for odometer framework and Navigation2 for navigation. Everything works fine (driving in manual mode with the controller, using SlamToolbox to create maps and localization in maps...), but when I start the navigation stack, I get the following warning message from the controller server: Sensor origin at (0.07, 0.00) is out of map bounds If I use [2D pose Estimate] to recalibrate the initial position and release the target point, my robot can reach the target point normally. But I want to solve this problem, what is the way? In fact, this problem also occurs in the Galactic version, and I really can't help it. If more parameter information is required, I can always provide it. The content of my parameter file is as follows:

amcl:
  ros__parameters:
    use_sim_time: False
    alpha1: 0.9
    alpha2: 0.1
    alpha3: 0.05
    alpha4: 0.01
    alpha5: 0.04
    base_frame_id: "base_footprint"
    beam_skip_distance: 0.5
    beam_skip_error_threshold: 0.9
    beam_skip_threshold: 0.3
    do_beamskip: false
    global_frame_id: "map"
    lambda_short: 0.1
    laser_likelihood_max_dist: 2.0
    laser_max_range: 100.0
    laser_min_range: -1.0
    laser_model_type: "likelihood_field"
    max_beams: 60
    max_particles: 2000
    min_particles: 500
    odom_frame_id: "odom_combined"
    pf_err: 0.02
    pf_z: 0.85
    recovery_alpha_fast: 0.0
    recovery_alpha_slow: 0.0
    resample_interval: 2
    robot_model_type: "differential"
    save_pose_rate: 0.5
    sigma_hit: 0.02
    tf_broadcast: true
    transform_tolerance: 1.2
    update_min_a: 0.06
    update_min_d: 0.025
    z_hit: 0.7
    z_max: 0.001
    z_rand: 0.059
    z_short: 0.24

    # Initial Pose
    set_initial_pose: True
    initial_pose.x: 0.0
    initial_pose.y: 0.0
    initial_pose.z: 0.0
    initial_pose.yaw: 0.0        

amcl_map_client:
  ros__parameters:
    use_sim_time: False

amcl_rclcpp_node:
  ros__parameters:
    use_sim_time: False

bt_navigator:
  ros__parameters:
    use_sim_time: False
    global_frame: map
    robot_base_frame: base_footprint
    odom_topic: /odom_combined
    default_bt_xml_filename: "navigate_w_replanning_time.xml"
    plugin_lib_names:
    - nav2_compute_path_to_pose_action_bt_node
    - nav2_follow_path_action_bt_node
    - nav2_back_up_action_bt_node
    - nav2_spin_action_bt_node
    - nav2_wait_action_bt_node
    - nav2_clear_costmap_service_bt_node
    - nav2_is_stuck_condition_bt_node
    - nav2_goal_reached_condition_bt_node
    - nav2_goal_updated_condition_bt_node
    - nav2_initial_pose_received_condition_bt_node
    - nav2_reinitialize_global_localization_service_bt_node
    - nav2_rate_controller_bt_node
    - nav2_distance_controller_bt_node
    - nav2_speed_controller_bt_node
    - nav2_truncate_path_action_bt_node
    - nav2_goal_updater_node_bt_node
    - nav2_recovery_node_bt_node
    - nav2_pipeline_sequence_bt_node
    - nav2_round_robin_node_bt_node
    - nav2_transform_available_condition_bt_node
    - nav2_time_expired_condition_bt_node
    - nav2_distance_traveled_condition_bt_node

bt_navigator_rclcpp_node:
  ros__parameters:
    use_sim_time: False

controller_server:
  ros__parameters:
    use_sim_time: False
    controller_frequency: 10.0
    min_x_velocity_threshold: 0.001
    min_y_velocity_threshold: 0.5
    min_theta_velocity_threshold: 0.001
    progress_checker_plugin: "progress_checker"
    goal_checker_plugin: "goal_checker"
    controller_plugins: ["FollowPath"]

    # Progress checker parameters
    progress_checker:
      plugin: "nav2_controller::SimpleProgressChecker"
      required_movement_radius: 0.5
      movement_time_allowance: 30.0
    # Goal checker parameters
    goal_checker:
      plugin: "nav2_controller::SimpleGoalChecker"
      xy_goal_tolerance: 0.25
      yaw_goal_tolerance: 0.25
      stateful: True
    # DWB parameters
    FollowPath:
      plugin: "dwb_core::DWBLocalPlanner"
      debug_trajectory_details: True
      min_vel_x: -0.5
      min_vel_y: 0.0
      max_vel_x: 0.5
      max_vel_y: 0.0
      max_vel_theta: 0.5
      min_speed_xy: 0.0
      max_speed_xy: 1.0
      min_speed_theta: 0.0
      # Add high threshold velocity for turtlebot 3 issue.
      # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
      acc_lim_x: 0.5
      acc_lim_y: 0.0
      acc_lim_theta: 1.0
      decel_lim_x: -0.5
      decel_lim_y: 0.0
      decel_lim_theta: -1.0
      vx_samples: 20
      vy_samples: 0
      vtheta_samples: 20
      sim_time: 1.7
      linear_granularity: 0.05
      angular_granularity: 0.025
      transform_tolerance: 1.2
      xy_goal_tolerance: 0.25
      trans_stopped_velocity: 0.25
      short_circuit_trajectory_evaluation: True
      stateful: True
      critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
      BaseObstacle.scale: 0.04
      PathAlign.scale: 50.0
      GoalAlign.scale: 10.0
      PathAlign.forward_point_distance: 0.1
      GoalAlign.forward_point_distance: 0.1
      PathDist.scale: 50.0
      GoalDist.scale: 10.0
      RotateToGoal.scale ...