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So, looking at your first error message:
[ERROR] [1571884523.045139138]: TF Exception for sensor frame: , cloud frame: camera_depth_optical_frame, Lookup would require extrapolation into the past. Requested time 1571884512.575208000 but the earliest data is at time 1571884513.123332977, when looking up transform from frame [camera_depth_optical_frame] to frame [map]
The timestamp on the message is 4523.04 - and it says the earliest data is 4513.12 -- this seems reasonable, you've got a 10 second buffer of TF data (which is the default).
So your real issue is that you are trying to transform a camera image from more than 10 seconds ago (4512.57). There are several possible causes: