t for map failed; trying again... [ WARN] [1689252666.773799942]: Request for map failed; trying again... [ WARN] [1689252667.021402726]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: canTransform: target_frame map does not exist. canTransform: source_frame base_link does not exist.. canTransform returned after 0.101189 timeout was 0.1. [ WARN] [1689252667.293776617]: Request for map failed; trying again... [ WARN] [1689252667.809827123]: Request for map failed; trying again... [ WARN] [1689252668.369620492]: Request for map failed; trying again...

这些警告信息表明在执行costmap过程中出现了问题。根据警告信息来看，可能是由于没有找到base_link到map的变换关系导致的。请确保在运行costmap之前，确保base_link和map之间的tf变换已经正确设置。你可以通过查看tf的配置文件或者执行tf相关的命令来确认这个问题。另外，还可以尝试增加等待时间来等待tf变换的建立。如果问题仍然存在，请提供更多的详细信息，以便我能够更好地帮助你解决问题。

相关问题

[root@zhanghao 20300118]# ftp localhost Trying ::1... ftp: connect to address ::1拒绝连接 Trying 127.0.0.1... ftp: connect: 拒绝连接

这个错误信息表明ftp客户端无法连接到本地主机。出现这个问题的原因可能是FTP服务器没有运行或者防火墙阻止了FTP传输。你可以尝试以下方法解决这个问题：

1. 确保FTP服务器已经运行并监听正确的端口。
2. 检查防火墙设置，确保FTP传输被允许通过。
3. 尝试使用telnet命令测试FTP服务器是否可用，例如：telnet localhost 21。
4. 检查FTP服务器的日志文件，查看是否有相关的错误信息。
5. 如果以上方法都无法解决问题，可以尝试重新安装FTP服务器。

npm WARN deprecated source-map-url@0.4.1: See https://github.com/lydell/source-map-url#deprecated npm WARN deprecated stable@0.1.8: Modern JS already guarantees Array#sort() is a stable sort, so this library is deprecated. See the compatibility table on MDN: https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/Array/sort#browser_compatibility npm WARN deprecated consolidate@0.15.1: Please upgrade to consolidate v1.0.0+ as it has been modernized with several long-awaited fixes implemented. Maintenance is supported by Forward Email at https://forwardemail.net ; follow/watch https://github.com/ladjs/consolidate for updates and release changelog npm WARN deprecated urix@0.1.0: Please see https://github.com/lydell/urix#deprecated npm WARN deprecated source-map-resolve@0.5.3: See https://github.com/lydell/source-map-resolve#deprecated npm WARN deprecated resolve-url@0.2.1: https://github.com/lydell/resolve-url#deprecated npm WARN deprecated w3c-hr-time@1.0.2: Use your platform's native performance.now() and performance.timeOrigin. npm WARN deprecated microargs@1.1.2: This project has been renamed to @pawelgalazka/cli-args. Install using @pawelgalazka/cli-args instead npm WARN deprecated microcli@1.3.3: This project has been renamed to @pawelgalazka/cli . Install using @pawelgalazka/cli instead npm WARN deprecated @babel/polyfill@7.12.1: 🚨 This package has been deprecated in favor of separate inclusion of a polyfill and regenerator-runtime (when needed). See the @babel/polyfill docs (https://babeljs.io/docs/en/babel-polyfill) for more information. npm WARN tarball tarball data for @jest/types@http://10.129.3.105:8081/repository/npm-all/@jest/types/-/types-27.5.1.tgz (sha512-Cx46iJ9QpwQTjIdq5VJu2QTMMs3QlEjI0x1QbBP5W1+nMzyc2XmimiRR/CbX9TO0cPTeUlxWMOu8mslYsJ8DEw==) seems to be corrupted. Trying again. npm WARN deprecated runjs@4.4.2: This project has been renamed to 'tasksfile'. Install using 'npm install tasksfile' instead. npm WARN tarball tarball data for @jest/console@http://10.129.3.105:8081/repository/npm-all/@jest/console/-/console-27.5.1.tgz (sha512-kZ/tNpS3NXn0mlXXXPNuDZnb4c0oZ20r4K5eemM2k30ZC3G0T02nXUvyhf5YdbXWHPEJLc9qGLxEZ216MdL+Zg==) seems to be corrupted. Trying again. npm WARN tarball tarball data for @jest/test-result@http://10.129.3.105:8081/repository/npm-all/@jest/test-result/-/test-result-27.5.1.tgz (sha512-EW35l2RYFUcUQxFJz5Cv5MTOxlJIQs4I7gxzi2zVU7PJhOwfYq1MdC5nhSmYjX1gmMmLPvB3sIaC+BkcHRBfag==) seems to be corrupted. Trying again. npm WARN deprecated svgo@1.2.0: This SVGO version is no longer supported. Upgrade to v2.x.x. npm WARN tarball tarball data for @jest/types@http://10.129.3.105:8081/repository/npm-all/@jest/types/-/types-27.5.1.tgz (sha512-Cx46iJ9QpwQTjIdq5VJu2QTMMs3QlEjI0x1QbBP5W1+nMzyc2XmimiRR/CbX9TO0cPTeUlxWMOu8mslYsJ8DEw==) seems to be corrupted. Trying again. npm WARN tarball tarball data for @jest/console@http://10.129.3.105:8081/repository/npm-all/@jest/console/-/console-27.5.1.tgz (sha512-kZ/tNpS3NXn0mlXXXPNuDZnb4c0oZ20r4K5eemM2k30ZC3G0T02nXUvyhf5YdbXWHPEJLc9qGLxEZ216MdL+Zg==) seems to be corrupted. Trying again. npm WARN tarball tarball data for @jest/test-result@http://10.129.3.105:8081/repository/npm-all/@jest/test-result/-/test-result-27.5.1.tgz (sha512-EW35l2RYFUcUQxFJz5Cv5MTOxlJIQs4I7gxzi2zVU7PJhOwfYq1MdC5nhSmYjX1gmMmLPvB3sIaC+BkcHRBfag==) seems to be corrupted. Trying again.

这些警告是由npm给出的。警告通常是关于某些包的版本过时或存在问题，或者某些包已被废弃。它们不是错误，但可能会影响你的项目。

例如，警告中的"source-map-url@0.4.1"已被官方废弃，建议查看提供的链接以了解更多详细信息。类似地，其他警告也会提供相应的链接，供你了解更多相关信息。

另外，警告中还提到了一些包已被重命名或升级，建议你更新到最新版本或使用新的包替代旧的包。同时，还有一些警告提示某些包似乎被损坏，但npm会尝试重新下载以解决此问题。

总的来说，这些警告需要你根据具体情况采取相应的行动，例如更新包或使用替代包。你可以参考警告中提供的链接或查阅相关文档以获取更多信息。