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The errror you're seeing is a race condition between waitForTransform and lookupTransform. This is however not the underlying problem. You somehow have two unconnected tf trees. I would assume you are running two or more gazebo instances in parallel, and therefore have multiple definitions of time. Before you run 'roslaunch gazebo_worlds empty_world.launch', can you run 'rostopic list' to make sure no other instance of gazebo is running already?

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