Extrapolation Error and AMCL

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Its my first time trying to get the navigation stack up and running. After fiddling with the .yaml files, I've gotten it to move with RVIZ. There are some issues I'm running into.

The robot is having issues localizing. My set up follows the http://wiki.ros.org/navigation/Tutorials/RobotSetup tutorials, but only have a laser scanner as an input.

Here's the error generated by move_base.launch.

[ERROR] [1385945596.417775629]: Extrapolation Error: Lookup would require extrapolation into the future.  Requested time 1385945596.400712013 but the latest data is at time 1385945596.309387000, when looking up transform from frame [odom] to frame [map]

[ERROR] [1385945596.417830096]: Global Frame: odom Plan Frame size 305: map

[ WARN] [1385945596.417853423]: Could not transform the global plan to the frame of the controller

After reading up on some other posts on answers.ros, to see what could be the problem, I took a look at my transforms, and I don't think thats it.

Here is the tf_monitor report.

RESULTS: for all Frames

Frames:
Frame: /base published by /base_ctrl_odom Average Delay: 0.000454951 Max Delay: 0.000718333
Frame: body published by /robot_state_publisher Average Delay: -0.499598 Max Delay: 0
Frame: bracket published by /robot_state_publisher Average Delay: 0.000529436 Max Delay: 0.000995636
Frame: bracket_90 published by /robot_state_publisher Average Delay: -0.499596 Max Delay: 0
Frame: hokuyo published by /robot_state_publisher Average Delay: -0.499597 Max Delay: 0
Frame: hokuyo_90 published by /robot_state_publisher Average Delay: -0.499597 Max Delay: 0
Frame: left_wheel published by /robot_state_publisher Average Delay: 0.000526063 Max Delay: 0.000993213
Frame: odom published by /amcl Average Delay: 0.0103003 Max Delay: 0.0867516
Frame: right_wheel published by /robot_state_publisher Average Delay: 0.000528483 Max Delay: 0.000995021
Frame: servo published by /robot_state_publisher Average Delay: -0.4996 Max Delay: 0

All Broadcasters:
Node: /amcl 41.432 Hz, Average Delay: 0.0103003 Max Delay: 0.0867516
Node: /base_ctrl_odom 5.82941 Hz, Average Delay: 0.000454951 Max Delay: 0.000718333
Node: /robot_state_publisher 60.1176 Hz, Average Delay: -0.420926 Max Delay: 0.000994623

I also ran

>rosrun tf tf_echo odom map

But there wasn't anything that threw a red flag at me.

There were three of those errors thrown when I was running the navigation stack. The room I'm using was fairly large. I used rviz to set an initialpose. After I did that, sending a it a goal didn't go too well. It moved a lot farther than it was suppose to, and I had to shut it off before it had a chance to try to complete the path. It also did a lot of extra rotating even though it was sent a straight path.

What additional information would be helpful to debug this issue? I'm not too sure where to look myself.

Thank you!

Edit: After reducing the size of the local cost map back down to the original size of 6x6 @ 0.5 resolution, the extrapolatoin error went away.

There weren't any grid cells with ... (more)