costmap [WARN]

[ WARN] [1642574748.113965461]: global_costmap: Pre-Hydro parameter "static_map" unused since "plugins" is provided
[ WARN] [1642574748.115083447]: global_costmap: Pre-Hydro parameter "map_type" unused since "plugins" is provided
[ WARN] [1642574748.478861824]: local_costmap: Pre-Hydro parameter "static_map" unused since "plugins" is provided
[ WARN] [1642574748.479041091]: local_costmap: Pre-Hydro parameter "map_type" unused since "plugins" is provided

To make the warning go away, just remove the static_map: true line inside the gocal_costmap parameters, remove the static_map: false line inside the local_costmap parameters, and
remove the map_type: voxel line inside the costmap_common parameters.

https://stackoverflow.com/questions/61363106/ros-move-base-node-is-generating-pre-hydro-warning

[ WARN] [1642574815.106431794]: Costmap2DROS transform timeout. Current time: 1642574815.1064, global_pose stamp: 1642574814.5832, tolerance: 0.5000
[ WARN] [1642574815.125480279]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1642574835.573788716]: Transform timeout for global_costmap. Current time: 1642574835.5737, pose stamp: 1642574834.9434, tolerance: 0.5000
[ WARN] [1642574835.574386906]: Unable to get starting pose of robot, unable to create global plan

Change transform_tolerance: 0.5 to transform_tolerance: 1.0.

https://www.guyuehome.com/bubble/detail/id/66145