导航中加上 sonar，无法加持膨胀层

[1157354382]

小鱼老师好！各位大佬好！
系统为ubuntu20 galactic 旭日X3派
目前在导航中加入 超声波后，出现了个问题：
costmap 中仅仅显示了 障碍物，没有给他铺上 膨胀层

这是啥子情况？
另附上这部分的代码：

plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
      static_layer:
              plugin: "nav2_costmap_2d::StaticLayer"
              map_subscribe_transient_local: True

      sonar_layer:
        plugin: "nav2_costmap_2d::RangeSensorLayer" 
        enabled: True
        topics: ["/sonar3"]
        phi: 1.2
        inflate_cone: 5.0
        no_readings_timeout: 0.0
        clear_threshold: 0.2
        mark_threshold: 0.8
        clear_on_max_reading: True
        input_sensor_type: ALL

      obstacle_layer:
              plugin: "nav2_costmap_2d::ObstacleLayer"
              enabled: True
              observation_sources: scan
              scan:
                topic: /scan
                max_obstacle_height: 0.3
                clearing: True
                marking: True
                data_type: "LaserScan"
      
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 5.0
        inflation_radius: 0.4
      always_send_full_costmap: True

恳请解答

[1157354382]

@1157354382 尼玛 插件加载顺序不对，但是有出来了一个问题：

[controller_server-11] [INFO] [1682258773.781507330] [local_costmap.local_costmap]: Range sensor layer can't transform from odom to sonar3_link
[controller_server-11] [INFO] [1682258773.981475366] [local_costmap.local_costmap]: Range sensor layer can't transform from odom to sonar3_link
[controller_server-11] [INFO] [1682258774.281503211] [local_costmap.local_costmap]: Range sensor layer can't transform from odom to sonar3_link
[planner_server-12] [INFO] [1682258774.353429141] [global_costmap.global_costmap]: Range sensor layer can't transform from map to sonar3_link

这又是 啥情况阿 各位大佬

[小鱼]

@1157354382 看起来改下urdf