TF2 - static_transform_publisher - Extrapolation into the future

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Hello,

I have a couple of static_transform_publishers from the TF2 package running. How is it possible that a node complains about extrapolating into the future, when it tries to lookup a transformation from a random element to the static one? In my understanding, the static-transforms should be valid for all eternity, so why would you complain about timing issues?

A further explanation about my setup:

I have 2 Kinects and I am using those in my moveIt setup to create the Octomap. As explained here, moveIt complains about extrapolation into the future while looking up a transform from my robot to the cameras.

My first solution was to write a python node, which would handle all the publishing instead of seperate static_transform_publishers from the old TF. There, I could date the transformations back in time to avoid those issues.

Now I read about the static transforms in TF2 and implemented all the camera transformations like this:

<node pkg="tf2_ros" type="static_transform_publisher" name="camera_top_base_link_1" args="0 -0.045 0 0 0 0 1 /camera_top/camera_top_link camera_top/camera_top_rgb_frame  " />

Still, moveIt is complaining

[ERROR] [1411130239.665581579]: Transform error: Lookup would require extrapolation into the future.  Requested time 1411130239.663295803 but the latest data is at time 1411130239.541714906, when looking up transform from frame [finger_2_link_0] to frame [camera_top/camera_top_depth_optical_frame]
[ERROR] [1411130239.997648183]: Transform cache was not updated. Self-filtering may fail

But running `rosrun tf tf_echo /finger_2_link_0 camera_top/camera_top_depth_optical_frame has no problems and tells me the transforms moveIt couldn't find?

Thanks in advance,

Rabe