[ WARN] [1709619594.875225471]: Control loop missed its desired rate of 300.00 Hz... the loop actually took 0.0087 seconds
// joint_state 报错，不是重点 [ WARN] [1709619595.976339929]: Moved backwards in time(probably because ROS clock was reset), re-publishing joint transforms! [ WARN] [1709619595.982125868]: Detected jump back in time of 1.05772s. Clearing TF buffer. [ WARN] [1709619595.983936734]: Detected jump back in time of 1.05592s. Clearing TF buffer. [ERROR] [1709619595.987547945]: Exception in PurePursuitPlanner::transformPose : Lookup would require extrapolation at time 1709619597.011688232, but only time 1709619596.080649853 is in the buffe, when looking up transform from frame [map] to frame [cutter_head] [ERROR] [1709619595.987830086]: transform GlobalPoseToLocal failed [ERROR] [1709619595.988800520]: Exception in PurePursuitPlanner::transformPose : Lookup would require extrapolation at time 1709619597.011688232, but only time 1709619596.080649853 is in the buffe, when looking up transform from frame [map] to frame [cutter_head] [ERROR] [1709619596.028980155]: transform GlobalPoseToLocal failed [ERROR] [1709619596.032062451]: Connectivity Error looking up robot pose: Could not find a connection between 'map' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees. [ERROR] [1709619596.032538970]: in_pose frame is empty! [ERROR] [1709619596.032780641]: Exception in PurePursuitPlanner::transform global plan: Unable to transform robot pose into global plan's frame [ WARN] [1709619596.033289244]: Unable to get starting pose of robot, so unable to create global plan [ WARN] [1709619596.034867606]: Unable to get starting pose of robot, so unable to create global plan [ WARN] [1709619596.034939482]: move_base didn't receive global plan, mower's recoverying and will try again ...... [ WARN] [1709619596.036663888]: Clearing costmap to unstuck robot(3.000000m). [ERROR] [1709619596.036978217]: Cannot clear map because pose cannot be retrieved [ WARN] [1709619596.040011241]: Unable to get starting pose of robot, so unable to create global plan [ WARN] [1709619596.040297600]: move_base didn't receive global plan, mower's recoverying and will try again ...... [ WARN] [1709619596.045662906]: Clearing costmap to unstuck robot(0.000000m). [ERROR] [1709619596.046150987]: Cannot clear map because pose cannot be retrieved [ WARN] [1709619596.052540739]: Unable to get starting pose of robot, so unable to create global plan [ WARN] [1709619596.052682668]: move_base didn't receive global plan, mower's recoverying and will try again ...... [ WARN] [1709619596.068955672]: All recovery behaviors have failed, locking the planner and disabling it. [ WARN] [1709619596.069181666]: Your executeCallback did not set the goal to a terminal status. This is a bug in your ActionServer implementation. Fix your code! For now, the ActionServer will set this goal to aborted
