raw3-x :Costmap2DROS transform timeout and Could not get robot pose, cancelling reconfiguration

[KamalanathanN]

ROS : Melodic

export ROBOT=raw3-x (any raw variants)
export ROBOT_ENV=ipa-apartment
roslaunch cob_bringup_sim robot.launch

Shows following warning in loop:

[ WARN] [1606983205.999461432, 2.076000000]: Costmap2DROS transform timeout. Current time: 2.0760, global_pose stamp: 0.0000, tolerance: 0.3000
[ WARN] [1606983205.999543542, 2.076000000]: Could not get robot pose, cancelling reconfiguration

It is working when i change the global_frame in local_costmap_params.yaml of raw3-x located in

cob_robots/cob_hardware_config/robots/raw3-x/

global_frame: base_link is changed to global_frame: base_footprint