Cartographer fails to build map in Turtlebot3 - Burger

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Hi all,

I am new to this forum, and I am keen on building next generation robots. With start with , I am using a turtlebot3=model Burger to operate autonomously. I am running on ubuntu 20.04 Ros2 Foxy.

While i try to run the slam node using the comment

roslaunch turtlebot3_slam turtlebot3_slam.launch

the rviz launches and shows the lidar data, and while the mapping happens , the cartographer fails and shows different of same environment, the error message i get from the terminal is ,

[WARN] [1675596198.090607276] [cartographer_ros]: W0205 16:53:18.000000  7481 tf_bridge.cc:67] Lookup would require extrapolation into the future.  Requested time 1675596196.772070 but the latest data is at time 1675596191.596432, when looking up transform from frame [odom] to frame [imu_link][cartographer_node-1]

also this from rviz,

[rviz2]: Message Filter dropping message: frame 'odom' at time 1675594786.414 for reason 'Unknown'

any help in this would be a grateful. Thanks and regards