Hi I am trying to run RTabMap with Livox Mid360 and Realsense d435i. While mapping mode worked very smoothly (localization = false), when I turned on the localization mode, after about 1 minutes, I will start seeing the warning message saying that could not get the transform from odom to base_link.

Below is a brief summary of my setup: (1) I am using FastLIO for Livox Mid360 for generating the odometry for it (livoxinit -> livoxbody through LaserMap). (2) I set up 2 static transforms, the first one is from the /odom to /livoxinit (`<node pkg="tf2ros" type="statictransformpublisher" name="livoxinittoodom" args="0 0 0 0 0 0 /odom /livoxinit"/> ), and the second one is from /livox_body to /base_link (3) I turned on "subscribe_scan_cloud" (set to true) with`, where /livox/points3D is a simple message converter from the Livox CustomMsg to PointCloud2. (4) I don't turn on ICP odometry nor Visual odometry at this moment. (5) The full launch file can be found below. (6) My TF tree is like: /map -> /odom -> /livoxinit -> /livoxbody ->/base_link

[ WARN] [1685162235.126441643]: Could not get transform from odom to baselink after 0.200000 seconds (for stamp=1685162223.741804)! Error="Lookup would require extrapolation 1.495885847s into the past. Requested time 1685162223.741804361 but the earliest data is at time 1685162225.237690210, when looking up transform from frame [baselink] to frame [odom]. canTransform returned after 0.200674 timeout was 0.2.". [ WARN] [1685162235.328926136]: Could not get transform from odom to baselink after 0.200000 seconds (for stamp=1685162223.842756)! Error="Lookup would require extrapolation 1.544934257s into the past. Requested time 1685162223.842755556 but the earliest data is at time 1685162225.387689829, when looking up transform from frame [baselink] to frame [odom]. canTransform returned after 0.200683 timeout was 0.2.". [ WARN] [1685162235.532499467]: Could not get transform from odom to baselink after 0.200000 seconds (for stamp=1685162223.941825)! Error="Lookup would require extrapolation 1.645868992s into the past. Requested time 1685162223.941824913 but the earliest data is at time 1685162225.587693930, when looking up transform from frame [baselink] to frame [odom]. canTransform returned after 0.200672 timeout was 0.2.".

<launch>  
   <arg name="depth_topic"        value="/camera/aligned_depth_to_color/image_raw"/>
   <arg name="frame_id"           value="base_link"/>
   <arg name="visual_odometry"    value="false"/>
   <arg name="odom_topic"         value="/Odometry"/>
   <arg name="rgb_topic"          value="/camera/color/image_raw"/>
   <arg name="camera_info_topic"  value="/camera/color/camera_info"/>
   <arg name="queue_size"         value="200"/>
   <arg name="odom_frame_id"           value="odom"/>
   <arg name="map_frame_id"            value="map"/>
   <arg name="subscribe_scan_cloud"    value="true"/>

  <!-- Localization-only mode -->
  <arg name="localization"            default="false"/>

  <!-- Corresponding config files -->
  <arg name="cfg"                     default="" /> <!-- To change RTAB-Map's parameters, set the path of config file (*.ini) generated by the standalone app -->

  <arg name="ground_truth_frame_id"   default=""/>     <!-- e.g., "world" -->
  <arg name="ground_truth_base_frame_id" default=""/>  <!-- e.g., "tracker", a fake frame matching the frame "frame_id" (but on different TF tree) -->
  <arg name="namespace"               default="rtabmap"/>
  <arg name="database_path"           default="~/.ros/rtabmap.db"/>
  <arg name="queue_size"              default="10"/>
  <arg name="wait_for_transform"      default="0.2"/>
  <arg name="args"                    default=""/>              <!-- delete_db_on_start, udebug -->
  <arg name="rtabmap_args"            default="$(arg args)"/>   <!-- deprecated, use "args" argument -->
  <arg name="gdb"                     default="false"/>         <!-- Launch nodes in gdb for debugging (apt install xterm gdb) -->
  <arg     if="$(arg gdb)" name="launch_prefix" default="xterm -e gdb -q -ex run --args"/>
  <arg unless="$(arg gdb)" name="launch_prefix" default=""/>
  <arg name="output"                  default="screen"/>        <!-- Control node output (screen or log) -->
  <arg name="publish_tf_map"          default="true"/>

  <!-- if timestamps of the input topics are synchronized using approximate or exact time policy-->
  <arg     if="$(arg stereo)" name="approx_sync"  default="false"/>
  <arg unless="$(arg stereo)" name="approx_sync"  default="$(arg depth)"/>         

  <!-- RGB-D related topics -->
  <arg name="depth_camera_info_topic" default="$(arg camera_info_topic)" />

  <!-- stereo related topics -->
  <arg name="stereo_namespace"        default="/stereo_camera"/>
  <arg name="left_image_topic"        default="$(arg stereo_namespace)/left/image_rect_color" />
  <arg name="right_image_topic"       default="$(arg stereo_namespace)/right/image_rect" />      <!-- using grayscale image for efficiency -->
  <arg name="left_camera_info_topic"  default="$(arg stereo_namespace)/left/camera_info" />
  <arg name="right_camera_info_topic" default="$(arg stereo_namespace)/right/camera_info" />

  <!-- Already synchronized RGB-D related topic, with rtabmap_ros/rgbd_sync nodelet -->
  <arg name="rgbd_sync"               default="false"/>         <!-- pre-sync rgb_topic, depth_topic, camera_info_topic -->
  <arg name="approx_rgbd_sync"        default="true"/>          <!-- false=exact synchronization -->
  <arg name="subscribe_rgbd"          default="$(arg rgbd_sync)"/>
  <arg name="rgbd_topic"              default="rgbd_image" />
  <arg name="depth_scale"             default="1.0" />         <!-- Deprecated, use rgbd_depth_scale instead -->
  <arg name="rgbd_depth_scale"        default="$(arg depth_scale)" />
  <arg name="rgbd_decimation"         default="1" />

  <arg name="compressed"              default="false"/>         <!-- If you want to subscribe to compressed image topics -->
  <arg name="rgb_image_transport"     default="compressed"/>    <!-- Common types: compressed, theora (see "rosrun image_transport list_transports") -->
  <arg name="depth_image_transport"   default="compressedDepth"/>  <!-- Depth compatible types: compressedDepth (see "rosrun image_transport list_transports") -->

  <arg name="subscribe_scan"          default="false"/>
  <arg name="scan_topic"              default="/scan"/>
  <arg name="scan_cloud_topic"        default="/scan_cloud"/>
  <arg name="subscribe_scan_descriptor" default="false"/>
  <arg name="scan_descriptor_topic"   default="/scan_descriptor"/>
  <arg name="scan_cloud_max_points"   default="0"/>
  <arg name="scan_cloud_filtered"     default="false"/> <!-- use filtered cloud from icp_odometry for mapping -->
  <arg name="gen_scan"                default="false"/> <!-- only works with depth image and if not subscribing to scan topic-->

  <arg name="icp_odometry"             default="false"/>         <!-- Launch rtabmap icp odometry node -->
  <arg name="odom_topic"               default="odom"/>          <!-- Odometry topic name -->
  <arg name="vo_frame_id"              default="$(arg odom_topic)"/> <!-- Visual/Icp odometry frame ID for TF -->
  <arg name="publish_tf_odom"          default="true"/>
  <arg name="odom_tf_angular_variance" default="1"/>             <!-- If TF is used to get odometry, this is the default angular variance -->
  <arg name="odom_tf_linear_variance"  default="1"/>             <!-- If TF is used to get odometry, this is the default linear variance -->
  <arg name="odom_args"                default=""/>              <!-- More arguments for odometry (overwrite same parameters in rtabmap_args) -->
  <arg name="odom_sensor_sync"         default="false"/>
  <arg name="odom_guess_frame_id"        default=""/>
  <arg name="odom_guess_min_translation" default="0"/>
  <arg name="odom_guess_min_rotation"    default="0"/>
  <arg name="odom_max_rate"            default="0"/>
  <arg name="odom_expected_rate"       default="0"/>
  <arg name="imu_topic"                default="/rtabmap/imu"/>          <!-- only used with VIO approaches -->
  <arg name="wait_imu_to_init"         default="true"/>
  <arg name="use_odom_features"        default="false"/>

  <arg name="scan_cloud_assembling"              default="false"/>
  <arg name="scan_cloud_assembling_time"         default="1"/>
  <arg name="scan_cloud_assembling_fixed_frame"  default=""/>
  <arg name="scan_cloud_assembling_voxel_size"   default="0.05"/>
  <arg name="scan_cloud_assembling_noise_radius"   default="0.0"/>    <!-- 0=disabled -->
  <arg name="scan_cloud_assembling_noise_min_neighbors"   default="5"/>

  <arg name="subscribe_user_data"      default="false"/>             <!-- user data synchronized subscription -->
  <arg name="user_data_topic"          default="/user_data"/>
  <arg name="user_data_async_topic"    default="/user_data_async" /> <!-- user data async subscription (rate should be lower than map update rate) -->

  <arg name="gps_topic"                default="/gps/fix" />         <!-- gps async subscription -->

  <arg name="tag_topic"                default="/tag_detections" />  <!-- apriltags async subscription -->
  <arg name="tag_linear_variance"      default="0.0001" />
  <arg name="tag_angular_variance"     default="9999" />             <!-- >=9999 means ignore rotation in optimization, when rotation estimation of the tag is not reliable -->

  <!-- These arguments should not be modified directly, see referred topics without "_relay" suffix above -->
  <arg if="$(arg compressed)"     name="rgb_topic_relay"           default="$(arg rgb_topic)_relay"/>
  <arg unless="$(arg compressed)" name="rgb_topic_relay"           default="$(arg rgb_topic)"/>
  <arg if="$(arg compressed)"     name="depth_topic_relay"         default="$(arg depth_topic)_relay"/>
  <arg unless="$(arg compressed)" name="depth_topic_relay"         default="$(arg depth_topic)"/>
  <arg if="$(arg compressed)"     name="left_image_topic_relay"    default="$(arg left_image_topic)_relay"/>
  <arg unless="$(arg compressed)" name="left_image_topic_relay"    default="$(arg left_image_topic)"/>
  <arg if="$(arg compressed)"     name="right_image_topic_relay"   default="$(arg right_image_topic)_relay"/>
  <arg unless="$(arg compressed)" name="right_image_topic_relay"   default="$(arg right_image_topic)"/>
  <arg if="$(arg rgbd_sync)"      name="rgbd_topic_relay"          default="$(arg rgbd_topic)"/>
  <arg unless="$(arg rgbd_sync)"  name="rgbd_topic_relay"          default="$(arg rgbd_topic)_relay"/>

  <!-- Nodes -->
  <group ns="$(arg namespace)">

<group unless="$(arg rgbd_sync)">
   <group if="$(arg subscribe_rgbd)">
     <node name="republish_rgbd_image"  type="rgbd_relay" pkg="rtabmap_ros">
       <remap     if="$(arg compressed)" from="rgbd_image" to="$(arg rgbd_topic)/compressed"/>
       <remap     if="$(arg compressed)" from="$(arg rgbd_topic)/compressed_relay" to="$(arg rgbd_topic_relay)"/>
       <remap unless="$(arg compressed)" from="rgbd_image" to="$(arg rgbd_topic)"/>
       <param if="$(arg compressed)" name="uncompress" value="true"/>
     </node>
  </group>
</group>

<!-- Visual odometry -->
<group unless="$(arg icp_odometry)">
  <group if="$(arg visual_odometry)">

    <!-- RGB-D Odometry -->
    <node unless="$(arg stereo)" pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="$(arg output)" args="$(arg rtabmap_args) $(arg odom_args)" launch-prefix="$(arg launch_prefix)">
      <remap from="rgb/image"       to="$(arg rgb_topic_relay)"/>
      <remap from="depth/image"     to="$(arg depth_topic_relay)"/>
      <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
      <remap from="rgbd_image"      to="$(arg rgbd_topic_relay)"/>
      <remap from="odom"            to="$(arg odom_topic)"/>
      <remap from="imu"             to="$(arg imu_topic)"/>

      <param name="frame_id"                    type="string" value="$(arg frame_id)"/>
      <param name="odom_frame_id"               type="string" value="$(arg vo_frame_id)"/>
      <param name="publish_tf"                  type="bool"   value="$(arg publish_tf_odom)"/>
      <param name="ground_truth_frame_id"       type="string" value="$(arg ground_truth_frame_id)"/>
      <param name="ground_truth_base_frame_id"  type="string" value="$(arg ground_truth_base_frame_id)"/>
      <param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
      <param name="wait_imu_to_init"            type="bool"   value="$(arg wait_imu_to_init)"/>
      <param name="approx_sync"                 type="bool"   value="$(arg approx_sync)"/>
      <param name="config_path"                 type="string" value="$(arg cfg)"/>
      <param name="queue_size"                  type="int"    value="$(arg queue_size)"/>
      <param name="subscribe_rgbd"              type="bool"   value="$(arg subscribe_rgbd)"/>
      <param name="guess_frame_id"              type="string" value="$(arg odom_guess_frame_id)"/>
      <param name="guess_min_translation"       type="double" value="$(arg odom_guess_min_translation)"/>
      <param name="guess_min_rotation"          type="double" value="$(arg odom_guess_min_rotation)"/>
      <param name="expected_update_rate"        type="double" value="$(arg odom_expected_rate)"/>
      <param name="max_update_rate"             type="double" value="$(arg odom_max_rate)"/>
      <param name="keep_color"                  type="bool"   value="$(arg use_odom_features)"/>
    </node>

<!-- ICP Odometry -->
<node if="$(arg icp_odometry)" pkg="rtabmap_ros" type="icp_odometry" name="icp_odometry" output="$(arg output)" args="$(arg rtabmap_args) $(arg odom_args)" launch-prefix="$(arg launch_prefix)">
  <remap from="scan"                   to="$(arg scan_topic)"/>
  <remap from="scan_cloud"             to="$(arg scan_cloud_topic)"/>
  <remap from="odom"                   to="$(arg odom_topic)"/>
  <remap from="imu"                    to="$(arg imu_topic)"/>

  <param name="frame_id"                    type="string" value="$(arg frame_id)"/>
  <param name="odom_frame_id"               type="string" value="$(arg vo_frame_id)"/>
  <param name="publish_tf"                  type="bool"   value="$(arg publish_tf_odom)"/>
  <param name="ground_truth_frame_id"       type="string" value="$(arg ground_truth_frame_id)"/>
  <param name="ground_truth_base_frame_id"  type="string" value="$(arg ground_truth_base_frame_id)"/>
  <param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
  <param name="wait_imu_to_init"            type="bool"   value="$(arg wait_imu_to_init)"/>
  <param name="config_path"                 type="string" value="$(arg cfg)"/>
  <param name="queue_size"                  type="int"    value="$(arg queue_size)"/>
  <param name="guess_frame_id"              type="string" value="$(arg odom_guess_frame_id)"/>
  <param name="guess_min_translation"       type="double" value="$(arg odom_guess_min_translation)"/>
  <param name="guess_min_rotation"          type="double" value="$(arg odom_guess_min_rotation)"/>
  <param name="scan_cloud_max_points"       type="int"    value="$(arg scan_cloud_max_points)"/>
  <param name="expected_update_rate"        type="double" value="$(arg odom_expected_rate)"/>
  <param name="max_update_rate"             type="double" value="$(arg odom_max_rate)"/>
</node>

<node if="$(arg scan_cloud_assembling)" pkg="rtabmap_ros" type="point_cloud_assembler" name="point_cloud_assembler" output="screen">
  <remap     if="$(arg scan_cloud_filtered)" from="cloud" to="odom_filtered_input_scan"/>
  <remap unless="$(arg scan_cloud_filtered)" from="cloud" to="$(arg scan_cloud_topic)"/>

  <remap from="odom"            to="$(arg odom_topic)"/>
  <param name="assembling_time" type="double" value="$(arg scan_cloud_assembling_time)"/>
  <param name="fixed_frame_id"  type="string" value="$(arg scan_cloud_assembling_fixed_frame)"/>
  <param name="voxel_size"      type="double" value="$(arg scan_cloud_assembling_voxel_size)"/>
  <param name="noise_radius"        type="double" value="$(arg scan_cloud_assembling_noise_radius)"/>
  <param name="noise_min_neighbors" type="int"    value="$(arg scan_cloud_assembling_noise_min_neighbors)"/>
</node>

<!-- Visual SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap_slam" type="rtabmap" output="$(arg output)" args="$(arg rtabmap_args)" launch-prefix="$(arg launch_prefix)">
  <param     if="$(arg stereo)" name="subscribe_depth"  type="bool" value="false"/>
  <param unless="$(arg stereo)" name="subscribe_depth"  type="bool" value="$(arg depth)"/>
  <param name="subscribe_rgb"        type="bool"   value="$(arg depth)"/>
  <param name="subscribe_rgbd"       type="bool"   value="$(eval subscribe_rgbd or use_odom_features)"/>
  <param name="subscribe_stereo"     type="bool"   value="$(arg stereo)"/>
  <param name="subscribe_scan"       type="bool"   value="$(arg subscribe_scan)"/>
  <param name="subscribe_scan_cloud" type="bool"   value="$(arg subscribe_scan_cloud)"/>
  <param name="subscribe_scan_descriptor" type="bool" value="$(arg subscribe_scan_descriptor)"/>
  <param name="subscribe_user_data"  type="bool"   value="$(arg subscribe_user_data)"/>
  <!-- <param if="$(arg visual_odometry)" name="subscribe_odom_info" type="bool" value="true"/>
  <param if="$(arg icp_odometry)"    name="subscribe_odom_info" type="bool" value="true"/> -->
  <param name="subscribe_odom_info" type="bool" value="false"/>
  <param name="frame_id"             type="string" value="$(arg frame_id)"/>
  <param name="map_frame_id"         type="string" value="$(arg map_frame_id)"/>
  <param name="odom_frame_id"        type="string" value="$(arg odom_frame_id)"/>
  <param name="publish_tf"           type="bool"   value="$(arg publish_tf_map)"/>
  <param name="gen_scan"             type="bool"   value="$(arg gen_scan)"/>
  <param name="ground_truth_frame_id"       type="string" value="$(arg ground_truth_frame_id)"/>
  <param name="ground_truth_base_frame_id"  type="string" value="$(arg ground_truth_base_frame_id)"/>
  <param name="odom_tf_angular_variance" type="double" value="$(arg odom_tf_angular_variance)"/>
  <param name="odom_tf_linear_variance"  type="double" value="$(arg odom_tf_linear_variance)"/>
  <param name="odom_sensor_sync"         type="bool"   value="$(arg odom_sensor_sync)"/>
  <param name="wait_for_transform_duration"  type="double"   value="$(arg wait_for_transform)"/>
  <param name="database_path"        type="string" value="$(arg database_path)"/>
  <param name="approx_sync"          type="bool"   value="$(eval approx_sync and not use_odom_features)"/>
  <param name="config_path"          type="string" value="$(arg cfg)"/>
  <param name="queue_size"           type="int" value="$(arg queue_size)"/>
  <param name="scan_cloud_max_points"     type="int" value="$(arg scan_cloud_max_points)"/>
  <param name="landmark_linear_variance"   type="double" value="$(arg tag_linear_variance)"/>
  <param name="landmark_angular_variance"  type="double" value="$(arg tag_angular_variance)"/>      

  <remap from="rgb/image"       to="$(arg rgb_topic_relay)"/>
  <remap from="depth/image"     to="$(arg depth_topic_relay)"/>
  <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>

  <remap     if="$(arg use_odom_features)" from="rgbd_image" to="odom_rgbd_image"/>
  <remap unless="$(arg use_odom_features)" from="rgbd_image" to="$(arg rgbd_topic_relay)"/>

  <remap from="left/image_rect"        to="$(arg left_image_topic_relay)"/>
  <remap from="right/image_rect"       to="$(arg right_image_topic_relay)"/>
  <remap from="left/camera_info"       to="$(arg left_camera_info_topic)"/>
  <remap from="right/camera_info"      to="$(arg right_camera_info_topic)"/>

  <remap from="scan"                   to="$(arg scan_topic)"/>
  <remap if="$(eval scan_cloud_assembling)" from="scan_cloud" to="assembled_cloud"/>
  <remap if="$(eval scan_cloud_filtered and not scan_cloud_assembling)" from="scan_cloud" to="odom_filtered_input_scan"/>
  <remap if="$(eval not scan_cloud_filtered and not scan_cloud_assembling)" from="scan_cloud" to="$(arg scan_cloud_topic)"/>
  <remap from="scan_descriptor"        to="$(arg scan_descriptor_topic)"/>
  <remap from="user_data"              to="$(arg user_data_topic)"/>
  <remap from="user_data_async"        to="$(arg user_data_async_topic)"/>
  <remap from="gps/fix"                to="$(arg gps_topic)"/>
  <remap from="tag_detections"         to="$(arg tag_topic)"/>
  <remap from="odom"                   to="$(arg odom_topic)"/>
  <remap from="imu"                    to="$(arg imu_topic)"/>

  <remap from="initialpose"            to="/initialpose"/>
  <remap from="scan_cloud" to="/livox/points3D"/>

  <param name="use_action_for_goal" type="bool" value="true"/>
  <remap from="move_base"            to="/move_base"/>

  <param name="Rtabmap/DetectionRate" type="string" value="5"/>

  <remap from="grid_map" to="/map"/>

  <param name="Grid/NoiseFilteringMinNeighbors" type="string" value="10"/>

  <param name="Grid/NoiseFilteringRadius" type="string" value="0.1"/>

  <param name="Grid/RangeMax" type="string" value="3.0"/>

  <param name="Grid/MaxObstacleHeight" type="string" value="1.2"/>

  <param name="Mem/UseOdomGravity" type="bool" value="false"/>

  <!-- localization mode -->
  <param     if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
  <param unless="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="true"/>
  <param name="Mem/InitWMWithAllNodes" type="string" value="$(arg localization)"/>
</node>