odometry间歇性[error]:no transform to map (间歇性的,一秒的时间是正常的,下一秒就报错)

后台报错:

[ERROR] [1681114617.713290807, 473.464000000]: Extrapolation Error: Lookup would require extrapolation -0.025000000s into the future.  Requested time 473.462000000 but the latest data is at time 473.437000000, when looking up transform from frame [odom] to frame [map]

[ERROR] [1681114617.713340689, 473.464000000]: Global Frame: odom Plan Frame size 27: map

实际导航效果也比较差,容易偏离全局规划路径。搜索了一些资料,猜测可能是tf变换频率的原因,如果是那应该如何解决呢,如果不是又应该是什么问题?请大佬们指教!!!