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navigation transform information problem

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Hello ! I try to run the navigation stack with a real robot (move_base + gmapping).
My problem is that when I launch my launch file which is supposed to run the move_base node and the slam_gmapping node (and load my YAML configuration files), I get completely randomly warnings which disturb the behaviour of my robot. When I send no goal, I get this warning randomly:
Costmap2DROS transform timeout ... could not get robot pose, cancelling pose reconfiguration And when I send a goal, I get this warning randomly:
Unable to get starting pose of robot, unable to create global plan When the first warning appear, the robot begins to get an hesitating behaviour with very slow speeds.
I didn't find anywhere a real solution to this problem.
If anyone could help me, I would be very grateful,
lfr

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