Use base_footprint frame as reference for cartographer instead of IMU
Decrease local costmap size to delete warning rates during navigation
I'm still seeing this error with cartographer and I couldn't find a regression during the last month:
Extrapolation Error: Lookup would require extrapolation into the future. Requested time 16.453000000 but the latest data is at time 16.428000000, when looking up transform from frame [create1_tf/odom] to frame [map]
Global Frame: create1_tf/odom Plan Frame size 139: map
Could not transform the global plan to the frame of the controller
This PR includes the following changes:
cartographer.rvizI'm still seeing this error with
cartographerand I couldn't find a regression during the last month: