报错：

[ERROR] [1710509295.679888409, 296.695000000]: Extrapolation Error: Lookup would require extrapolation 0.003000000s into the future.  Requested time 295.747000000 but the latest data is at time 295.744000000, when looking up transform from frame [odom] to frame [map]

[ERROR] [1710509295.679943474, 296.695000000]: Global Frame: odom Plan Frame size 20: map

[ WARN] [1710509295.679954597, 296.695000000]: Could not transform the global plan to the frame of the controller

 原因：

局部代价地图里程计坐标系错误local_costmap_params.yaml

将第二行global_frame: odom 改成 global_frame: map