四驱小车V2建图跑飞

[2877639376]

每次出现该报错小车在rivz2中就开始旋转漂移，求助！
[2025-04-02 12:10:47][error] Check Sum 0x477A != 0x7EA2
[cartographer_node-3] [WARN] [1743595847.976712172] [cartographer logger]: W0402 12:10:47.000000 1335 range_data_collator.cc:82] Dropped 10 earlier points.
[cartographer_node-3] [WARN] [1743595848.419307060] [cartographer logger]: W0402 12:10:48.000000 1335 range_data_collator.cc:82] Dropped 1 earlier points.
[rviz2-5] [INFO] [1743595848.492249747] [rviz2]: Trying to create a map of size 234 x 174 using 1 swatches
[cartographer_node-3] [WARN] [1743595848.712889688] [cartographer logger]: W0402 12:10:48.000000 1335 range_data_collator.cc:82] Dropped 5 earlier points.
[rviz2-5] [ERROR] [1743595849.036769175] [rviz2]: Lookup would require extrapolation into the future. Requested time 1743595849.059730 but the latest data is at time 1743595849.059730, when looking up transform from frame [laser_frame] to frame [map]
[cartographer_node-3] [WARN] [1743595849.160105109] [cartographer logger]: W0402 12:10:49.000000 1335 range_data_collator.cc:82] Dropped 139 earlier points.
[cartographer_node-3] [WARN] [1743595849.457432841] [cartographer logger]: W0402 12:10:49.000000 1335 range_data_collator.cc:82] Dropped 2 earlier points.
[rviz2-5] [INFO] [1743595849.483899761] [rviz2]: Trying to create a map of size 275 x 187 using 1 swatches
!