Hi , I am doing an experiment about hector slam navigation.
for the picture as below,the small tf mark is where it start and the big one is the last place .
here is my launch file ([click me to github](https://github.com/AlysonQ/rplidar_ros/blob/master/launch/expolration.launch))
But the system crash when the laser scanner move every time about 10 seconds.
And shows Costmap2DROS transform timeout and can't get robot pose.
How could I solve it? Thanks for anyone response.><
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Here are the error message.
[ INFO] [126.662293041]: [hector_exploration_planner] Initializing HectorExplorationPlanner
[ INFO] [126.843700868]: [hector_exploration_planner] Parameter set. security_const: 0.500000, min_obstacle_dist:
1000, plan_in_unknown: 1, use_inflated_obstacle: 1, p_goal_angle_penalty_:50 , min_frontier_size: 5, p_dist_for_goal_reached_: 0.250000, same_frontier: 0.250000
[ WARN] [178.280680532]: Costmap2DROS transform timeout. Current time: 178.2801, global_pose stamp: 168.1918, tolerance: 10.0000
[ WARN] [178.281182366]: Could not get robot pose, cancelling reconfiguration
[ WARN] [179.391044619]: Costmap2DROS transform timeout. Current time: 179.3909, global_pose stamp: 168.1918,
tolerance: 10.0000
[ WARN] [179.391814787]: Could not get robot pose, cancelling reconfiguration
[ WARN] [180.400909692]: Costmap2DROS transform timeout. Current time: 180.4008, global_pose stamp: 168.1918, tolerance: 10.0000
[ WARN] [180.406124285]: Could not get robot pose, cancelling reconfiguration
[ WARN] [181.480204223]: Costmap2DROS transform timeout. Current time: 181.4799, global_pose stamp: 168.1918, tolerance: 10.0000
[ WARN] [181.480478224]: Could not get robot pose, cancelling reconfiguration
[ WARN] [182.480537195]: Costmap2DROS transform timeout. Current time: 182.4804, global_pose stamp: 168.1918, tolerance: 10.0000
[ WARN] [182.480666779]: Could not get robot pose, cancelling reconfiguration
[ WARN] [183.580379513]: Costmap2DROS transform timeout. Current time: 183.5802, global_pose stamp: 168.1918, tolerance: 10.0000
[ WARN] [183.580514430]: Could not get robot pose, cancelling reconfiguration
[ WARN] [184.629115323]: Costmap2DROS transform timeout. Current time: 184.6289, global_pose stamp: 168.1918, tolerance: 10.0000
[ WARN] [184.680667166]: Could not get robot pose, cancelling reconfiguration
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