调试定位导航遇到的问题总结

Timed out waiting for transform from base_link to map to become available before running costmap, tf error: canTransform: target_frame map does not exist… canTransform returned after 0.100308 timeout was 0.1.

[ERROR] [1656480677.873590405]: “map” passed to lookupTransform argument target_frame does not exist.

[ WARN] [1656478989.096207746]: No laser scan received (and thus no pose updates have been published) for 1656478989.096181 seconds. Verify that data is being published on the /scan topic.

我的出现问题的原因是/map和/odom发布频率不一样。/odom发布频率太快，50Hz，/map发布频率30Hz。
降低/odom发布频率即可，降低到30Hz以下。