Having troulble with sending 2D navi goal with ICP_odometry

[skim]

Hello,

I am using ROS melodic on ubntu 18.04 and I am working on RTABMAP + 2D lidar + wheel odom  + IMU setup and based on demo_hector_mapping.launch

I am not using hector but would like to use odom_guess:=true because it gives a much better result.

I have manged to bring up my robot with rtabmap map and turtlebot_navigation move_base.launch.xml. The problem is if I sending a 2D navi goal I got this errors from terminal.

 odom received!
[ WARN] [1632326580.282877585]: Clearing both costmaps to unstuck robot (3.00m).
[ WARN] [1632326585.482890846]: Rotate recovery behavior started.
[ INFO] [1632326586.732376787]: Resizing costmap to 164 X 198 at 0.050000 m/pix
[ INFO] [1632326587.887139165]: Resizing costmap to 250 X 202 at 0.050000 m/pix
[ INFO] [1632326589.837446281]: Resizing costmap to 250 X 205 at 0.050000 m/pix
[ INFO] [1632326592.633173566]: Got new plan
[ERROR] [1632326592.633504572]: Extrapolation Error: Lookup would require extrapolation into the future.  Requested time 1632326592.620965957 but the latest data is at time 1632326592.484303363, when looking up transform from frame [odom] to frame [map]

[ERROR] [1632326592.633588985]: Global Frame: odom Plan Frame size 34: map

[ WARN] [1632326592.633642928]: Could not transform the global plan to the frame of the controller
[ERROR] [1632326592.633684969]: Could not get local plan
[ WARN] [1632326592.833183536]: Clearing both costmaps to unstuck robot (3.00m).
[ INFO] [1632326593.233173336]: Got new plan
[ERROR] [1632326593.233371765]: Extrapolation Error: Lookup would require extrapolation into the future.  Requested time 1632326593.181320905 but the latest data is at time 1632326593.109773408, when looking up transform from frame [odom] to frame [map]

[ERROR] [1632326593.233450650]: Global Frame: odom Plan Frame size 34: map

[ WARN] [1632326593.233509307]: Could not transform the global plan to the frame of the controller
[ERROR] [1632326593.233578608]: Could not get local plan
[ WARN] [1632326593.433182717]: Rotate recovery behavior started.
[ INFO] [1632326599.114736246]: Resizing costmap to 251 X 205 at 0.050000 m/pix
[ INFO] [1632326600.333442055]: Got new plan
[ INFO] [1632326600.533469626]: Got new plan
[ERROR] [1632326600.533673371]: Extrapolation Error: Lookup would require extrapolation into the future.  Requested time 1632326600.464657068 but the latest data is at time 1632326600.419715305, when looking up transform from frame [odom] to frame [map]

[ERROR] [1632326600.533725097]: Global Frame: odom Plan Frame size 34: map

[ WARN] [1632326600.533760107]: Could not transform the global plan to the frame of the controller
[ERROR] [1632326600.533793690]: Could not get local plan
[ WARN] [1632326600.734700686]: Clearing both costmaps to unstuck robot (1.84m).
[ INFO] [1632326601.133503438]: Got new plan
[ERROR] [1632326601.133661444]: Extrapolation Error: Lookup would require extrapolation into the future.  Requested time 1632326601.089464902 but the latest data is at time 1632326601.019950263, when looking up transform from frame [odom] to frame [map]

[ERROR] [1632326601.133700366]: Global Frame: odom Plan Frame size 36: map

[ WARN] [1632326601.133754863]: Could not transform the global plan to the frame of the controller
[ERROR] [1632326601.133792266]: Could not get local plan
[ WARN] [1632326601.333511923]: Rotate recovery behavior started.
[ INFO] [1632326604.446783889]: Resizing costmap to 251 X 206 at 0.050000 m/pix
[ INFO] [1632326607.806132691]: Resizing costmap to 251 X 208 at 0.050000 m/pix
[ INFO] [1632326608.333725173]: Got new plan
[ INFO] [1632326608.533800870]: Got new plan
[ERROR] [1632326608.534059105]: Extrapolation Error: Lookup would require extrapolation into the future.  Requested time 1632326608.468965053 but the latest data is at time 1632326608.430689506, when looking up transform from frame [odom] to frame [map]

[ERROR] [1632326608.534131514]: Global Frame: odom Plan Frame size 36: map

[ WARN] [1632326608.534205634]: Could not transform the global plan to the frame of the controller
[ERROR] [1632326608.534274902]: Could not get local plan
[ERROR] [1632326608.733820391]: Aborting because a valid control could not be found. Even after executing all recovery behaviors

However if I don't use odom_guess so that the tf_tree is directly odom -> map the robot is moving and try to go to the goal position.

Please let me know how I can use 2D navi goal with ICP_odometry.

Thank you

[skim]

I have changed the move base configure files and it works, very well.

Thank you