Hi
I have tried to change the measurement model in Self Localizer from Likelihood Field Model to Beam Model, where I have only replaced number 2 to 1 in this line: `localNode.param("laser_model_type", mLaserModelType, 1);`
But I got this error: `[ERROR] [1465372764.281938765, 29.100000000]: Could not get robot position: Lookup would require extrapolation into the past. Requested time 18.300000000 but the earliest data is at time 19.100000000, when looking up transform from frame [base_link] to frame [map]`
The problem is in exploration due to timing, but is it because that Self localizer code and exploration is set up to use Likelihood Field Model ?
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