Exploration Error while using Cartographer for Localization

[Rajatsurya]

ISSUE TEMPLATE ver. 0.4.0

1. Which TurtleBot3 platform do you use?

   • Burger
   • Waffle
   • Waffle Pi

2. Which ROS is working with TurtleBot3?

   • ROS 1 Kinetic Kame
   • ROS 1 Melodic Morenia
   • ROS 1 Noetic Ninjemys
   • ROS 2 Dashing Diademata
   • ROS 2 Eloquent Elusor
   • ROS 2 Foxy Fitzroy
   • etc (Please specify your ROS Version here)

3. Which SBC(Single Board Computer) is working on TurtleBot3?

   • Intel Joule 570x
   • Raspberry Pi 3B+
   • Raspberry Pi 4
   • etc (Please specify your SBC here)

4. Which OS you installed on SBC?

   • Raspbian distributed by ROBOTIS
   • Ubuntu MATE (16.04/18.04/20.04)
   • Ubuntu preinstalled server (18.04/20.04)
   • etc (Please specify your OS here)

5. Which OS you installed on Remote PC?

   • Ubuntu 16.04 LTS (Xenial Xerus)
   • Ubuntu 18.04 LTS (Bionic Beaver)
   • Ubuntu 20.04 LTS (Focal Fossa)
   • Windows 10
   • MAC OS X (Specify version)
   • etc (Please specify your OS here)

6. Specify the software and firmware version(Can be found from Bringup messages)

   • Software version: Noetic
   • Firmware version: turtlebot3_msgs/VersionInfo

7. Copy and Paste the error messages on terminal.
   Extrapolation Error: Lookup would require extrapolation 0.003984088s into the future. Requested time 1703667865.989929199 but the latest data is at time 1703667865.985944986, when looking up transform from frame [odom] to frame [map]

[ERROR] [1703667865.990101947]: Global Frame: odom Plan Frame size 22: map

[ WARN] [1703667865.990149510]: Could not transform the global plan to the frame of the controller
[ERROR] [1703667865.990196793]: Could not get local plan
got new plan
got new plan
got new plan
Extrapolation Error: Lookup would require extrapolation 0.003984088s into the future. Requested time 1703667865.989929199 but the latest data is at time 1703667865.985944986, when looking up transform from frame [odom] to frame [map]

[ERROR] [1703667865.990101947]: Global Frame: odom Plan Frame size 22: map

[ WARN] [1703667865.990149510]: Could not transform the global plan to the frame of the controller
[ERROR] [1703667865.990196793]: Could not get local plan
got new plan
got new plan
goal reached

8. Please describe the issue in detail.
   I am currently facing this above issue ,here I am using Cartographer localization instead of AMCL to localize the robots.Because of this exploration error the motion of the robots is not continuous . what should I change to eliminate this error also I am using 2 robots one is equipped with an LDS 01 sensor and the other with an LDS 02 sensor the frequency with which the exploration error occurs is much lesser in the LDS 02 sensor ,I have been stuck with this problem for quite some time would be great if I can get some assistance on this