[ERROR] [1727288517.959824922] [scan_matcher]: Lookup would require extrapolation into the future. Requested time 1.750000 but the latest data is at time 1.700000, when looking up transform from frame [base_link] to frame [odom]

[nishantomnipotent]

When I change the world I get this error any ideas as to how to solve it

[Wiktor-99]

I've checked it and it seems that you need to add following line to the sdf world:

<plugin filename="RGLServerPluginManager" name="rgl::RGLServerPluginManager"/>

I believe that the lidar slam has problem when point cloud is missing.

Let me know if it works.