不明原因的tf时间同步错误
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我尝试在Nav2官方的示例上修改，但是今天启动的时候我却遇到了莫名奇妙的tf帧时间同步错误。下面是我的配置文件，同样的配置文件在昨天还是工作正常的。
bt_navigator: ros__parameters: use_sim_time: True global_frame: map robot_base_frame: base_link odom_topic: /demo/odom bt_loop_duration: 10 default_server_timeout: 20 wait_for_service_timeout: 1000 action_server_result_timeout: 900.0 #default_nav_to_pose_bt_xml: $(find-pkg-share sam_bot_description)/src/control/navigate_w_replanning_only_if_goal_is_updated.xml #default_nav_through_poses_bt_xml: $(find-pkg-share sam_bot_description)/src/control/no_global_map.bt.xml #default_nav_to_pose_bt_xml: "nav2_bt_navigator/navigate_w_replanning_only_if_goal_is_updated.xml" navigators: ["navigate_to_pose", "navigate_through_poses"] navigate_to_pose: plugin: "nav2_bt_navigator::NavigateToPoseNavigator" navigate_through_poses: plugin: "nav2_bt_navigator::NavigateThroughPosesNavigator" # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults: # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2. # plugin_lib_names is used to add custom BT plugins to the executor (vector of strings). # Built-in plugins are added automatically # plugin_lib_names: [] error_code_name_prefixes: - assisted_teleop - backup - compute_path - dock_robot - drive_on_heading - follow_path - nav_thru_poses - nav_to_pose - route - spin - undock_robot - wait controller_server: ros__parameters: use_sim_time: True controller_frequency: 20.0 costmap_update_timeout: 0.30 min_x_velocity_threshold: 0.4 min_y_velocity_threshold: 0.0 min_theta_velocity_threshold: 0.001 failure_tolerance: 0.3 transform_tolerance: 0.5 progress_checker_plugins: ["progress_checker"] goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker" controller_plugins: ["FollowPath"] odom_topic: /demo/odom use_realtime_priority: false enable_stamped_cmd_vel: true # Progress checker parameters progress_checker: plugin: "nav2_controller::SimpleProgressChecker" required_movement_radius: 0.5 movement_time_allowance: 10.0 # Goal checker parameters general_goal_checker: stateful: True plugin: "nav2_controller::SimpleGoalChecker" xy_goal_tolerance: 0.25 yaw_goal_tolerance: 0.25 # RPP controller parameters FollowPath_RPP: plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController" use_sim_time: True desired_linear_vel: 0.5 lookahead_dist: 3.0 min_lookahead_dist: 0.3 max_lookahead_dist: 6.0 lookahead_time: 1.5 rotate_to_heading_angular_vel: 1.8 transform_tolerance: 0.1 use_velocity_scaled_lookahead_dist: false min_approach_linear_velocity: 0.05 approach_velocity_scaling_dist: 1.0 use_collision_detection: true max_allowed_time_to_collision_up_to_carrot: 1.0 use_regulated_linear_velocity_scaling: true use_cost_regulated_linear_velocity_scaling: false regulated_linear_scaling_min_radius: 0.9 regulated_linear_scaling_min_speed: 0.25 use_fixed_curvature_lookahead: false curvature_lookahead_dist: 1.0 use_rotate_to_heading: true rotate_to_heading_min_angle: 0.785 max_angular_accel: 3.2 max_robot_pose_search_dist: 10.0 interpolate_curvature_after_goal: false cost_scaling_dist: 0.3 cost_scaling_gain: 1.0 inflation_cost_scaling_factor: 3.0 # 时间弹性带 FollowPath: #加载旋转控制器插件 plugin: "nav2_rotation_shim_controller::RotationShimController" primary_controller: "teb_local_planner::TebLocalPlannerROS" angular_dist_threshold: 0.785 forward_sampling_distance: 2.0 rotate_to_heading_angular_vel: 3.14 max_angular_accel: 1.57 simulate_ahead_time: 10.0 rotate_to_goal_heading: true use_path_orientations: true # 加载 TEB 控制器插件 footprint_model: type: "circular" radius: 0.5 use_sim_time: True max_vel_x: 2.0 max_vel_y: 0.0 max_vel_theta: 1.0 min_vel_x: 0.5 min_vel_y: 0.0 min_vel_theta: 0.4 acc_lim_x: 1.0 acc_lim_y: 1.0 acc_lim_theta: 0.5 # 时间弹性带参数 dt_ref: 0.3 dt_hysteresis: 0.1 global_plan_overwrite_orientation: True max_global_plan_lookahead_dist: 20.0 # MPC controller parameters FollowPath_MPPI: # 加载旋转控制器插件 plugin: "nav2_rotation_shim_controller::RotationShimController" primary_controller: "nav2_mppi_controller::MPPIController" angular_dist_threshold: 0.785 forward_sampling_distance: 2.0 rotate_to_heading_angular_vel: 3.14 max_angular_accel: 0.6 simulate_ahead_time: 10.0 rotate_to_goal_heading: true use_path_orientations: false # 加载 MPPI 控制器插件 # plugin: "nav2_mppi_controller::MPPIController" # MPPI 控制器参数 # 采样时间步长 time_steps: 200 # 采样时间间隔（秒） model_dt: 0.05 # 一次采样的轨迹数量 batch_size: 1000 # 加速度控制 ax_max: 3.0 ax_min: -3.0 ay_max: 3.0 az_max: 3.5 # 输入标准差 vx_std: 1.2 vy_std: 1.2 wz_std: 1.57 # 速度限制 vx_max: 10.0 vx_min: -0.35 vy_max: 10.0 wz_max: 1.9 # 每次规划迭代次数 iteration_count: 1 # 路径裁剪距离 prune_distance: 10.0 # 坐标变化容忍时间 transform_tolerance: 0.1 temperature: 0.3 gamma: 0.015 motion_model: "DiffDrive" visualize: true regenerate_noises: true TrajectoryVisualizer: trajectory_step: 30 time_step: 2 AckermannConstraints: min_turning_r: 0.01 critics: [ "ConstraintCritic", "CostCritic", "GoalCritic", "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic", "PathAngleCritic", "PreferForwardCritic", "TwirlingCritic"] ConstraintCritic: enabled: true cost_power: 1 cost_weight: 4.0 GoalCritic: enabled: true cost_power: 1 cost_weight: 5.0 threshold_to_consider: 1.4 GoalAngleCritic: enabled: true cost_power: 1 cost_weight: 5.0 threshold_to_consider: 0.3 PreferForwardCritic: enabled: true cost_power: 1 cost_weight: 3.0 threshold_to_consider: 0.5 CostCritic: enabled: true cost_power: 1 cost_weight: 5.0 critical_cost: 30.0 consider_footprint: true collision_cost: 1000000.0 near_goal_distance: 1.0 trajectory_point_step: 2 PathAlignCritic: enabled: true cost_power: 1 cost_weight: 5.0 max_path_occupancy_ratio: 0.05 trajectory_point_step: 4 threshold_to_consider: 5.0 offset_from_furthest: 20 use_path_orientations: false PathFollowCritic: enabled: true cost_power: 1 cost_weight: 4.0 offset_from_furthest: 5 threshold_to_consider: 3.0 PathAngleCritic: enabled: true cost_power: 1 cost_weight: 3.0 offset_from_furthest: 4 threshold_to_consider: 0.5 max_angle_to_furthest: 1.0 mode: 0 TwirlingCritic: enabled: true twirling_cost_power: 1 twirling_cost_weight: 1.0 local_costmap: local_costmap: ros__parameters: use_sim_time: True update_frequency: 24.0 publish_frequency: 24.0 global_frame: odom robot_base_frame: base_link rolling_window: true width: 30 height: 30 resolution: 0.05 footprint: "[ [0.8, 0.6], [0.8, -0.6], [-0.8, -0.6], [-0.8, 0.6] ]" plugins: ["voxel_layer", "static_layer", "inflation_layer"] inflation_layer: plugin: "nav2_costmap_2d::InflationLayer" cost_scaling_factor: 10.0 inflation_radius: 0.2 # 目前voxel_layer已经开启 voxel_layer: plugin: "nav2_costmap_2d::VoxelLayer" enabled: True publish_voxel_map: True origin_z: 0.0 z_resolution: 0.05 z_voxels: 16 max_obstacle_height: 2.0 mark_threshold: 0 observation_sources: pointcloud_front pointcloud_back pointcloud_front: topic: /scan_front/points data_type: "PointCloud2" clearing: True marking: True inf_is_valid: True max_obstacle_height: 3.0 min_obstacle_height: 0.0 obstacle_max_range: 6.0 obstacle_min_range: 0.0 raytrace_max_range: 5.0 raytrace_min_range: 0.0 pointcloud_back: topic: /scan_back/points data_type: "PointCloud2" clearing: True marking: True inf_is_valid: True max_obstacle_height: 3.0 min_obstacle_height: 0.0 obstacle_max_range: 6.0 obstacle_min_range: 0.0 raytrace_max_range: 5.0 raytrace_min_range: 0.0 static_layer: plugin: "nav2_costmap_2d::StaticLayer" map_subscribe_transient_local: True footprint_clearing_enabled: True subscribe_to_updates: True always_send_full_costmap: True global_costmap: global_costmap: ros__parameters: update_frequency: 1.0 publish_frequency: 1.0 global_frame: map robot_base_frame: base_link robot_radius: 0.3 resolution: 0.05 track_unknown_space: false plugins: ["static_layer", "obstacle_layer", "inflation_layer"] obstacle_layer: plugin: "nav2_costmap_2d::ObstacleLayer" enabled: True combination_method: 0 observation_sources: pointcloud_front pointcloud_back pointcloud_front: topic: /scan_front/points data_type: "PointCloud2" clearing: True marking: True max_obstacle_height: 10.0 min_obstacle_height: 0.0 obstacle_max_range: 30.0 obstacle_min_range: -1.0 raytrace_max_range: 3.0 raytrace_min_range: -3.0 pointcloud_back: topic: /scan_back/points data_type: "PointCloud2" clearing: True marking: True max_obstacle_height: 10.0 min_obstacle_height: 0.0 obstacle_max_range: 30.0 obstacle_min_range: -1.0 raytrace_max_range: 3.0 raytrace_min_range: -3.0 static_layer: plugin: "nav2_costmap_2d::StaticLayer" map_subscribe_transient_local: True inflation_layer: plugin: "nav2_costmap_2d::InflationLayer" cost_scaling_factor: 3.0 inflation_radius: 0.7 always_send_full_costmap: True map_saver: ros__parameters: use_sim_time: True save_map_timeout: 5.0 free_thresh_default: 0.25 occupied_thresh_default: 0.65 map_subscribe_transient_local: True smoother_server: ros__parameters: use_sim_time: True smoother_plugins: ["simple_smoother"] simple_smoother: plugin: "nav2_smoother::SimpleSmoother" tolerance: 1.0e-10 max_its: 1000 do_refinement: True behavior_server: ros__parameters: use_sim_time: True local_costmap_topic: local_costmap/costmap_raw global_costmap_topic: global_costmap/costmap_raw local_footprint_topic: local_costmap/published_footprint global_footprint_topic: global_costmap/published_footprint cycle_frequency: 20.0 behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"] spin: plugin: "nav2_behaviors::Spin" backup: plugin: "nav2_behaviors::BackUp" drive_on_heading: plugin: "nav2_behaviors::DriveOnHeading" wait: plugin: "nav2_behaviors::Wait" assisted_teleop: plugin: "nav2_behaviors::AssistedTeleop" local_frame: odom global_frame: map robot_base_frame: base_link transform_tolerance: 2.0 simulate_ahead_time: 2.0 max_rotational_vel: 1.0 min_rotational_vel: 0.4 rotational_acc_lim: 3.2 enable_stamped_cmd_vel: true waypoint_follower: ros__parameters: use_sim_time: True loop_rate: 20 stop_on_failure: false action_server_result_timeout: 900.0 waypoint_task_executor_plugin: "wait_at_waypoint" wait_at_waypoint: plugin: "nav2_waypoint_follower::WaitAtWaypoint" enabled: True waypoint_pause_duration: 200 planner_server: ros__parameters: plugins: ["GridBased"] use_sim_time: True GridBased: plugin: "nav2_straightline_planner::StraightLine" interpolation_resolution: 0.1 velocity_smoother: ros__parameters: use_sim_time: True smoothing_frequency: 20.0 scale_velocities: False feedback: "OPEN_LOOP" max_velocity: [1.0, 0.0, 2.0] min_velocity: [-1.0, 0.0, -2.0] max_accel: [2.5, 0.0, 3.2] max_decel: [-2.5, 0.0, -3.2] odom_topic: "/demo/odom" odom_duration: 0.1 deadband_velocity: [0.0, 0.0, 0.0] velocity_timeout: 1.0 enable_stamped_cmd_vel: true collision_monitor: ros__parameters: use_sim_time: True base_frame_id: "base_footprint" odom_frame_id: "odom" cmd_vel_in_topic: "cmd_vel_smoothed" cmd_vel_out_topic: "/demo/cmd_vel" enable_stamped_cmd_vel: true state_topic: "collision_monitor_state" transform_tolerance: 0.2 source_timeout: 1.0 base_shift_correction: True stop_pub_timeout: 2.0 # Polygons represent zone around the robot for "stop", "slowdown" and "limit" action types, # and robot footprint for "approach" action type. polygons: ["FootprintApproach"] FootprintApproach: type: "polygon" action_type: "approach" footprint_topic: "local_costmap/published_footprint" time_before_collision: 1.2 simulation_time_step: 0.1 min_points: 6 visualize: False enabled: True observation_sources: ["scan"] scan: type: "scan" topic: "scan" min_height: 0.15 max_height: 2.0 enabled: True docking_server: ros__parameters: use_sim_time: True controller_frequency: 50.0 initial_perception_timeout: 5.0 wait_charge_timeout: 5.0 dock_approach_timeout: 30.0 undock_linear_tolerance: 0.05 undock_angular_tolerance: 0.1 max_retries: 3 base_frame: "base_link" fixed_frame: "odom" dock_backwards: false dock_prestaging_tolerance: 0.5 # Types of docks dock_plugins: ['simple_charging_dock'] simple_charging_dock: plugin: 'opennav_docking::SimpleChargingDock' docking_threshold: 0.05 staging_x_offset: -0.7 use_external_detection_pose: true use_battery_status: false # true use_stall_detection: false # true external_detection_timeout: 1.0 external_detection_translation_x: -0.18 external_detection_translation_y: 0.0 external_detection_rotation_roll: -1.57 external_detection_rotation_pitch: -1.57 external_detection_rotation_yaw: 0.0 filter_coef: 0.1 # Dock instances # The following example illustrates configuring dock instances. # docks: ['home_dock'] # Input your docks here # home_dock: # type: 'simple_charging_dock' # frame: map # pose: [0.0, 0.0, 0.0] controller: k_phi: 3.0 k_delta: 2.0 v_linear_min: 0.15 v_linear_max: 0.15 use_collision_detection: true costmap_topic: "/local_costmap/costmap_raw" footprint_topic: "/local_costmap/published_footprint" transform_tolerance: 0.1 projection_time: 5.0 simulation_step: 0.1 dock_collision_threshold: 0.3 loopback_simulator: ros__parameters: use_sim_time: True base_frame_id: "base_footprint" odom_frame_id: "odom" map_frame_id: "map" scan_frame_id: "base_scan" # tb4_loopback_simulator.launch.py remaps to 'rplidar_link' update_duration: 0.02 enable_stamped_cmd_vel: true我遇到的错误是这个
[controller_server-8] [ERROR] [1753155010.957683345] [controller_server]: Extrapolation Error: Lookup would require extrapolation into the future. Requested time 80.830000 but the latest data is at time 80.600000, when looking up transform from frame [odom] to frame [map] [controller_server-8] [controller_server-8] [ERROR] [1753155010.957710639] [controller_server]: Global Frame: odom Plan Frame size 63: map [controller_server-8] [controller_server-8] [ERROR] [1753155010.957740037] [controller_server]: Could not transform the global plan to the frame of the controller [controller_server-8] [WARN] [1753155010.957826901] [controller_server]: [follow_path] [ActionServer] Aborting handle. [behavior_server-11] [INFO] [1753155010.972874419] [behavior_server]: Running backup [planner_server-10] [INFO] [1753155011.310881979] [global_costmap.global_costmap]: Message Filter dropping message: frame 'back_lidar_link' at time 80.850 for reason 'the timestamp on the message is earlier than all the data in the transform cache' [rviz2-3] [INFO] [1753155011.502784946] [rviz2]: Message Filter dropping message: frame 'odom' at time 80.645 for reason 'discarding message because the queue is full' [planner_server-10] [INFO] [1753155011.563139438] [global_costmap.global_costmap]: Message Filter dropping message: frame 'front_lidar_link' at time 80.950 for reason 'the timestamp on the message is earlier than all the data in the transform cache' [planner_server-10] [INFO] [1753155011.600570306] [global_costmap.global_costmap]: Message Filter dropping message: frame 'back_lidar_link' at time 80.950 for reason 'the timestamp on the message is earlier than all the data in the transform cache' [rviz2-3] [INFO] [1753155011.664746872] [rviz2]: Message Filter dropping message: frame 'odom' at time 80.704 for reason 'discarding message because the queue is full' [rviz2-3] [INFO] [1753155011.820135330] [rviz2]: Message Filter dropping message: frame 'odom' at time 80.754 for reason 'discarding message because the queue is full' [rviz2-3] [INFO] [1753155011.947982501] [rviz2]: Message Filter dropping message: frame 'odom' at time 80.803 for reason 'discarding message because the queue is full'我检查了我的其他配置文件，确定这些配置在之前都从未修改，工作正常。
请大佬看看我是不是错漏了什么？