Hello, I recently started getting this warning when I launch the Nav2

[localcostmap.localcostmap]: Sensor origin: (1.60, 0.00, 0.96), out of map bounds. The costmap can't raytrace for it

I have never saw this warning and of course I can't remember what changes I made. But regardless, I really have no clue how to address this. I don't even know where to start from.
Of course I googled a little and found something but I'm not sure it's related to my issue: https://answers.ros.org/question/380985/sensor-origin-out-of-map-bounds-the-costmap-cant-raytrace-it/

My Nav2 params are:

amcl:
  ros__parameters:
    use_sim_time: True
    alpha1: 0.2
    alpha2: 0.2
    alpha3: 0.2
    alpha4: 0.2
    alpha5: 0.2
    base_frame_id: "base_link"
    beam_skip_distance: 0.5
    beam_skip_error_threshold: 0.9
    beam_skip_threshold: 0.3
    do_beamskip: false
    global_frame_id: "map"
    lambda_short: 0.1
    laser_likelihood_max_dist: 2.0
    laser_max_range: 20.0
    laser_min_range: 0.1
    laser_model_type: "likelihood_field"
    max_beams: 60
    max_particles: 2000
    min_particles: 500
    odom_frame_id: "odom"
    pf_err: 0.05
    pf_z: 0.99
    recovery_alpha_fast: 0.0
    recovery_alpha_slow: 0.0
    resample_interval: 1
    robot_model_type: "differential"
    save_pose_rate: 0.5
    sigma_hit: 0.2
    tf_broadcast: true
    transform_tolerance: 1.0
    update_min_a: 0.2
    update_min_d: 0.25
    z_hit: 0.5
    z_max: 0.05
    z_rand: 0.5
    z_short: 0.05
    scan_topic: scan

amcl_map_client:
  ros__parameters:
    use_sim_time: True

amcl_rclcpp_node:
  ros__parameters:
    use_sim_time: True

bt_navigator:
  ros__parameters:
    use_sim_time: True
    global_frame: map
    robot_base_frame: base_link
    odom_topic: /odometry/filtered
    enable_groot_monitoring: True
    groot_zmq_publisher_port: 1666
    groot_zmq_server_port: 1667
    default_bt_xml_filename: "navigate_w_replanning_and_round_robin_recovery"
    plugin_lib_names:
    - nav2_compute_path_to_pose_action_bt_node
    - nav2_follow_path_action_bt_node
    - nav2_back_up_action_bt_node
    - nav2_spin_action_bt_node
    - nav2_wait_action_bt_node
    - nav2_clear_costmap_service_bt_node
    - nav2_is_stuck_condition_bt_node
    - nav2_goal_reached_condition_bt_node
    - nav2_goal_updated_condition_bt_node
    - nav2_initial_pose_received_condition_bt_node
    - nav2_reinitialize_global_localization_service_bt_node
    - nav2_rate_controller_bt_node
    - nav2_distance_controller_bt_node
    - nav2_speed_controller_bt_node
    - nav2_truncate_path_action_bt_node
    - nav2_goal_updater_node_bt_node
    - nav2_recovery_node_bt_node
    - nav2_pipeline_sequence_bt_node
    - nav2_round_robin_node_bt_node
    - nav2_transform_available_condition_bt_node
    - nav2_time_expired_condition_bt_node
    - nav2_distance_traveled_condition_bt_node

bt_navigator_rclcpp_node:
  ros__parameters:
    use_sim_time: True

controller_server:
  ros__parameters:
    use_sim_time: True
    controller_frequency: 10.0
    min_x_velocity_threshold: 0.005
    min_y_velocity_threshold: 0.005
    min_theta_velocity_threshold: 0.01
    failure_tolerance: 0.3
    odom_topic: /odometry/filtered
    progress_checker_plugin: "progress_checker"
    goal_checker_plugins: ["goal_checker"]
    controller_plugins: ["FollowPath"]

    progress_checker:
      plugin: "nav2_controller::SimpleProgressChecker"
      required_movement_radius: 0.05
      movement_time_allowance: 10.0
    goal_checker:
      plugin: "nav2_controller::SimpleGoalChecker"
      xy_goal_tolerance: 0.2 # 0.25
      yaw_goal_tolerance: 0.1 #0.25
      stateful: True
    # TEB parameters
    # http://wiki.ros.org/teb_local_planner
    FollowPath:
      plugin: "teb_local_planner::TebLocalPlannerROS"
      odom_topic: odom
      map_frame: map

      # footprint_model.type: circular
      # footprint_model.radius: 2.0
      footprint_model.type: polygon
      footprint_model.vertices: "[ [1.54, 0.405], [1.54, -0.405], [-0.2, -0.405], [-0.2, 0.405] ]"

      min_turning_radius: 2.0
      wheelbase: 1.35
      cmd_angle_instead_rotvel: true
      min_obstacle_dist: 5.0
      inflation_dist: 1.0
      costmap_converter_plugin: "costmap_converter::CostmapToPolygonsDBSMCCH"
      costmap_converter_spin_thread: True
      costmap_converter_rate: 15
      enable_homotopy_class_planning: True
      enable_multithreading: True
      optimization_verbose: False
      teb_autoresize: True
      min_samples: 3
      max_samples: 20
      max_global_plan_lookahead_dist: 10.0
      visualize_hc_graph: True
      max_vel_x: 0.75
      max_vel_x_backwards: 0.2
      max_vel_y: 0.0 # should be zero for non-holonomic robots
      acc_lim_y: 0.05
      max_vel_theta: 0.5
      acc_lim_x: 0.5
      acc_lim_theta: 0.1
      yaw_goal_tolerance: 0.2
      xy_goal_tolerance: 0.1
      include_costmap_obstacles: True
      publish_feedback: True

costmap_converter:
  ros__parameters:
    use_sim_time: True

controller_server_rclcpp_node:
  ros__parameters:
    use_sim_time: True

local_costmap:
  local_costmap:
    ros__parameters:
      update_frequency: 1.0
      publish_frequency: 1.0
      global_frame: odom
      robot_base_frame: base_link
      use_sim_time: True
      rolling_window: true
      width: 10
      height: 10
      origin_x: -2.0 # Relative to width
      # origin_y: 0.0 # Relative to height
      resolution: 0.05
      # Length 1.74 m
      # Width 0.81 m
      footprint: "[ [1.54, 0.405], [1.54, -0.405], [-0.2, -0.405], [-0.2, 0.405] ]"
      # robot_radius: 0.22
      footprint: "[ [1.5, 0.4], [1.5, -0.4], [-0.2, -0.4], [-0.2, 0.4] ]"
      plugins: ["voxel_layer", "inflation_layer"]
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 10.0
        inflation_radius: 2.0 #0.55
      voxel_layer:
        plugin: "nav2_costmap_2d::VoxelLayer"
        enabled: True
        publish_voxel_map: True
        origin_z: 0.0
        z_resolution: 0.05
        z_voxels: 16
        max_obstacle_height: 2.0
        mark_threshold: 0
        observation_sources: front_pointcloud
        front_pointcloud:
          topic: /scan
          max_obstacle_height: 2.0
          min_obstacle_height: 0.2
          obstacle_max_range: 10.0
          obstacle_min_range: 0.2
          raytrace_max_range: 3.0
          raytrace_min_range: 1.0
          clearing: True
          marking: True
          # data_type: "PointCloud2"
          data_type: "LaserScan"
      static_layer:
        map_subscribe_transient_local: True
      always_send_full_costmap: True
  local_costmap_client:
    ros__parameters:
      use_sim_time: True
  local_costmap_rclcpp_node:
    ros__parameters:
      use_sim_time: True

global_costmap:
  global_costmap:
    ros__parameters:
      update_frequency: 1.0
      publish_frequency: 1.0
      global_frame: map
      robot_base_frame: base_link
      use_sim_time: True
      # robot_radius: 1.0
      # Length 1.74 m
      # Width 0.81 m
      footprint: "[ [1.54, 0.405], [1.54, -0.405], [-0.2, -0.405], [-0.2, 0.405] ]"
      footprint_padding: 0.5
      resolution: 0.05
      track_unknown_space: true
      plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
      obstacle_layer:
        plugin: "nav2_costmap_2d::ObstacleLayer"
        enabled: True
        observation_sources: zed_front_pointcloud #??
        zed_front_pointcloud: #??
          topic: /scan
          max_obstacle_height: 2.0
          clearing: True
          marking: True
          obstacle_max_range: 10.0
          obstacle_min_range: 0.2
          raytrace_max_range: 3.0
          raytrace_min_range: 1.0
          # data_type: "PointCloud2"
          data_type: "LaserScan"
      static_layer:
        plugin: "nav2_costmap_2d::StaticLayer"
        map_subscribe_transient_local: True
        # map_topic: map
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 10.0
        inflation_radius: 4.0
      always_send_full_costmap: True
  global_costmap_client:
    ros__parameters:
      use_sim_time: True
  global_costmap_rclcpp_node:
    ros__parameters:
      use_sim_time: True

map_saver:
  ros__parameters:
    use_sim_time: True
    save_map_timeout: 5000
    free_thresh_default: 0.25
    occupied_thresh_default: 0.65
    map_subscribe_transient_local: False

planner_server:
  ros__parameters:
    planner_plugins: ["GridBased"]
    use_sim_time: True

    GridBased:
      plugin: "smac_planner/SmacPlanner"
      tolerance: 0.5                    # tolerance for planning if unable to reach exact pose, in meters, for 2D node
      downsample_costmap: false         # whether or not to downsample the map
      downsampling_factor: 1            # multiplier for the resolution of the costmap layer (e.g. 2 on a 5cm costmap would be 10cm)
      allow_unknown: true # false              # allow traveling in unknown space
      max_iterations: -1                # maximum total iterations to search for before failing
      max_on_approach_iterations: 1000  # maximum number of iterations to attempt to reach goal once in tolerance, 2D only
      max_planning_time_ms: 2000.0      # max time in ms for planner to plan, smooth, and upsample. Will scale maximum smoothing and upsampling times based on remaining time after planning.
      smooth_path: false                # Whether to smooth searched path
      motion_model_for_search: "REEDS_SHEPP"  # 2D Moore, Von Neumann; SE2 Dubin, Redds-Shepp - Options for SE2: DUBIN, REEDS_SHEPP. 2D: MOORE, VON_NEUMANN
      angle_quantization_bins: 72       # For SE2 node: Number of angle bins for search, must be 1 for 2D node (no angle search)
      minimum_turning_radius: 2.0      # For SE2 node & smoother: minimum turning radius in m of path / vehicle
      reverse_penalty: 1.2              # For Reeds-Shepp model: penalty to apply if motion is reversing, must be => 1
      change_penalty: 0.20              # For SE2 node: penalty to apply if motion is changing directions, must be >= 0
      non_straight_penalty: 1.05        # For SE2 node: penalty to apply if motion is non-straight, must be => 1
      cost_penalty: 1.3                 # For SE2 node: penalty to apply to higher cost zones

      smoother:
        smoother:
          w_curve: 30.0                 # weight to minimize curvature of path
          w_dist: 0.0                   # weight to bind path to original as optional replacement for cost weight
          w_smooth: 30000.0             # weight to maximize smoothness of path
          w_cost: 0.025                 # weight to steer robot away from collision and cost
          cost_scaling_factor: 10.0     # this should match the inflation layer's parameter

        # I do not recommend users mess with this unless they're doing production tuning
        optimizer:
          max_time: 0.10                # maximum compute time for smoother
          max_iterations: 500           # max iterations of smoother
          debug_optimizer: false        # print debug info
          gradient_tol: 1.0e-10
          fn_tol: 1.0e-20
          param_tol: 1.0e-15
          advanced:
            min_line_search_step_size: 1.0e-20
            max_num_line_search_step_size_iterations: 50
            line_search_sufficient_function_decrease: 1.0e-20
            max_num_line_search_direction_restarts: 10
            max_line_search_step_expansion: 50

planner_server_rclcpp_node:
  ros__parameters:
    use_sim_time: True

recoveries_server:
  ros__parameters:
    costmap_topic: local_costmap/costmap_raw
    footprint_topic: local_costmap/published_footprint
    cycle_frequency: 10.0
    recovery_plugins: ["spin", "back_up", "wait"]
    spin:
      plugin: "nav2_recoveries/Spin"
    back_up:
      plugin: "nav2_recoveries/BackUp"
    wait:
      plugin: "nav2_recoveries/Wait"
    global_frame: odom
    robot_base_frame: base_link
    transform_timeout: 0.1
    use_sim_time: true
    simulate_ahead_time: 2.0
    max_rotational_vel: 0.5
    min_rotational_vel: 0.4
    rotational_acc_lim: 0.5

robot_state_publisher:
  ros__parameters:
    use_sim_time: True