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So, looking at your first error message:

[ERROR] [1571884523.045139138]: TF Exception for sensor frame: , cloud frame: camera_depth_optical_frame, Lookup would require extrapolation into the past.  Requested time 1571884512.575208000 but the earliest data is at time 1571884513.123332977, when looking up transform from frame [camera_depth_optical_frame] to frame [map]

The timestamp on the message is 4523.04 - and it says the earliest data is 4513.12 -- this seems reasonable, you've got a 10 second buffer of TF data (which is the default).

So your real issue is that you are trying to transform a camera image from more than 10 seconds ago (4512.57). There are several possible causes:

  • Are you running the camera driver and navigation on the same computer? If not, make sure the clocks between the computers are synced (I'd suggest using chrony)
  • How bogged down is the CPU? A quick check of "top" or similar tool while things are running would give you an idea if your CPU can handle everything. If your load averages are really high, you not have enough processing power to actually process the messages before the TF buffer goes out.
  • It' is possible there is something funky going on with the camera driver or timing (although I'd rule out the first two things first) - can you see camera data in RVIZ or does it have TF issues too?