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The warning means that you asked TF for a transform, but the TF listener doesn't have that transform in its buffer yet. In other words, the message you're trying to transform (probably a point cloud, image or depth image) has the time stamp 1461653020.318166665 and has arrived before the corresponding transform. The latest transform that is known to the TF listener has time stamp 1461653020.303369825 (that's 0.01 s earlier).

The solution is to add a waitForTransform before the lookupTransform, as explained in this tutorial.