TF_OLD_DATA error after upgrading to Gazebo 8 from 7, ROS Kinetic

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Thanks for looking! Been trying to rectify this issue for the past few days to no avail.

Background The differential drive robot project had been worked on using ros kinetic and gazebo7 but I've decided to upgrade gazebo to version 8 as I wanted to use the animation with collision features in the newer version.

Problem Launching, exploration, gmapping, karto, SLAM etc all worked flawlessly on Gazebo 7. However after upgrading to gazebo 8, launching gmapping and numerous other mapping packages all caused TF_OLD_DATA error to appear. use_sim_time has already been set to true however the time for left/right wheel and base_footprint seems to be using real time and causing this error. I've tried and failed at rectifying this. Initially I thought there might be problems during the upgrade so I tried: 1. Downgrading back to Gazebo7 and everything works flawlessly as expected 2. Reinstalling ROS & Gazebo8, same error persists 3. Fresh install of ubuntu on a separate computer, same error appears

the pdf of tf_tree: https://drive.google.com/open?id=1_Fz...

I've chanced across the Servicesim robot and environment ( https://bitbucket.org/osrf/servicesim ) and installed it on the system with fresh install to test as the package was developed on ROS kinetic and gazebo8. However, the exact same errors TF_OLD_DATA appeared.

Has anyone had similar issues and how did you go about resolving it?

Ubuntu: Ubuntu 16.04.5 LTS Ros: Kinetic Gazebo: 8.6

[ WARN] [1538679919.286044394, 259.524000000]: TF_OLD_DATA ignoring data from the past for frame base_footprint at time 9,16483e+08 according to authority unknown_publisher Possible reasons are listed at http://wiki.ros.org/tf/Errors%20expla...

[ WARN] [1538679919.286314075, 259.524000000]: TF_OLD_DATA ignoring data from the past for frame right_wheel_link at time 8,9977e+08 according to authority unknown_publisher Possible reasons are listed at http://wiki.ros.org/tf/Errors%20expla...

[ WARN] [1538679919.286517726, 259.524000000]: TF_OLD_DATA ignoring data from the past for frame left_wheel_link at time 8,9977e+08 according to authority unknown_publisher Possible reasons are listed at http://wiki.ros.org/tf/Errors%20expla...