I am using Husky A200 in ROS kinetic. I am using P&F R2000 laser scanner. I have am getting a map using hector_mapping. I am using move_base for simple navigation using RVIZ.
I launch my scanner and move_base node inside the husky. I visualize it in rviz in my own remote pc. When I provide 2D nav goal from the rviz, the mobile base keeps spinning. It throws me error:
[ERROR] [1538035032.225474602]: Extrapolation Error: Lookup would require extrapolation into the future. Requested time 1538035032.285401881 but the latest data is at time 1538035032.281328883, when looking up transform from frame [odom] to frame [map]
[ERROR] [1538035032.225506623]: Global Frame: odom Plan Frame size 80: map
[ WARN] [1538035032.225563373]: Could not transform the global plan to the frame of the controller
[ERROR] [1538035032.225597427]: Could not get local plan
[ INFO] [1538035032.425304326]: Got new plan
[ERROR] [1538035032.425386196]: Extrapolation Error: Lookup would require extrapolation into the future. Requested time 1538035032.485577569 but the latest data is at time 1538035032.481471291, when looking up transform from frame [odom] to frame [map]
I tried the suggestions provided [here](https://answers.ros.org/question/38507/why-so-much-spinning-in-place-with-move_base/?comment=261349#post-id-261349)
My launch file looks like below:
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