Problem with navigation stack base_link to map with costmap

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Hello everybody,

I'm trying to bring up a navigation stack on a custom robot. The Warning I'm getting is the following :

[ WARN] [1349902108.687242123, 83.600000000]: Waiting on transform from /base_footprint to /map to become available before running costmap, tf error: Lookup would require extrapolation into the past.  Requested time 83.500000000 but the earliest data is at time 1349902098.858861163, when looking up transform from frame [/base_footprint] to frame [/map]

My launch file looks like this:

<launch> <node pkg="stage" type="stageros" name="stageros" args="$(find turtlebot_slam)/world/swarmlab_single_turtle.world" respawn="false" output="screen" &gt;="" <param="" name="use_sim_time" value="true"/> </node>

<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" args="scan:=base_scan"/>

<node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="1 0 0 0 0 0 /base_footprint /map 100"/>

<node pkg="rviz" type="rviz" name="rviz" args="-d $(find turtlebot_slam)/view.vcg"/>

<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen"> <rosparam file="$(find turtlebot_slam)/config/costmap_common.yaml" command="load" ns="global_costmap"/> <rosparam file="$(find turtlebot_slam)/config/costmap_common.yaml" command="load" ns="local_costmap"/> <rosparam file="$(find turtlebot_slam)/config/local_costmap.yaml" command="load"/> <rosparam file="$(find turtlebot_slam)/config/global_costmap.yaml" command="load"/> <rosparam file="$(find turtlebot_slam)/config/base_planner.yaml" command="load"/> </node>

</launch>

The static transform publisher doesn't solve the problem either ... .

I would be happy about any advice.

Best regards,

Thomas