建图 tf 时间戳

[1829887535]

Cartographer 在请求 odom 和 base 之间的变换时，时间戳不匹配，且请求的时间戳早于变换数据的可用时间。

[cartographer_node-1] [WARN] [1748252628.567376902] [cartographer logger]: W0526 17:43:48.000000 61917 tf_bridge.cpp:53] Lookup would require extrapolation into the past. Requested time 1748250957.654525 but the earliest data is at time 1748252620.653753, when looking up transform from frame [odom] to frame [base]

有没有大佬指导一下