Hi , all :
I want to use hector_mapping and move_base to work together on the turtlebot which has a rplidar,but when I shart up move_base to get a path planning, I find move_base continuously print the alarm information,
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[ WARN] [1499649044.602318070, 109.050000000]: Control loop missed its desired rate of 3.0000Hz... the loop actually took 3.1000 seconds
[ WARN] [1499649044.602556838, 109.050000000]: Map update loop missed its desired rate of 3.0000Hz... the loop actually took 2.7667 seconds
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which leads to the robot path planning is not smooth. The robot dosen't move. I have already reduced update_frequency, publish_frequency of global_costmap and local_costmap. I also decrease the controll frequence of planner in move base. However, move_base still continuously output the warning information. The robot dosen't move a little.
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PS: when I only use hector_mapping build a map, everything is ok. who can tell me why move_base print this warn and how to solve this problem ? Thanks.
**EDIT·1：**
I also tried the [cartographer-ros](https://google-cartographer-ros.readthedocs.io/en/latest/) and [karto](http://wiki.ros.org/karto) with movebase. They all worked fine.
Actually, we have monitored the usage of CPU and memory when running these SLAM packages. We have the order of consumption is **cartographer>karto>hector**.
**So we wonder why the hector mapping with the lowest usage of CPU and memory can't work together with movebase, but cartographer with the highest usage of CPU and meory can!**
Hopefully anyone give us any advices!
Many thanks!
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