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Your transform data is just too old. TF needs to remember all transforms over time. The standard buffer size is 10 seconds. You seems to be 4 seconds off.

What is the best solution depends on your application. If the time delay is gonna be similar, you could just increase the buffer size. It seems that your are transforming to /map, which is probably a fixed frame. In that case it might be a good idea to transform to /map as soon as you get the data and store its pose in the /map frame instead.