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Rufus was almost correct. In some cases if you using low freq. laser sensors like 10-12Hz (Sick S300), AMCL will publish transform with same freq. If you using global planner quite frequently 1-2Hz, randomly you will face with this problem.

If all this is correct for you, then local base planner has a bug for you. But the line causing this is not (108 as Rufus mentioned), but this line (base_local_planner/src/goal_functions.cpp): 113 tf.transform(global_pose, robot_pose, plan_pose.header.frame_id);

For me is difficult to understand why they did not put timeout for this line, unlike 108 (which is fine). There is no logic in this. Why they did this unblocking/instant.

So to solve this issue need to add timeout to line 113, it will look like that: tf.transform(global_pose, robot_pose, plan_pose.header.frame_id, ros::Duration(0.1));

Timeout duration will depend on your particular case, but usually 0.1 is more than you need.