I get this error when trying to view my RPLidar A2 scan in rviz. It’s on a differential drive robot controlled using arduino using Articulated Robotics’ code that I quickly ported to Humble, alongside the controller manager code. I am running everything on a laptop, no separate machines, on ROS2 humble. It’s connected to the base_link via the URDF but I tried a static transform publisher but the same thing occurred.

Oddly enough when I use a YDLIDAR G4, it works intermittently but it loses transform often. When I use the rplidar it doesn’t work at all. This is my first time using ros2 so I am confused

[ERROR] [1668990540.121377402] [rviz2]: Lookup would require extrapolation into the future. Requested time 1668990540.179102 but the latest data is at time 1668990540.113331, when looking up transform from frame [laser_frame] to frame [odom]