TF extrapolation into the past

edit

I am running several nodes on my robot involving some tf frames. I am following the tf tree structure suggested by the ROS navigation stack. Without going further into specific details, I would like to know if someone has encountered in the same situation I am.

I launch my nodes through a launch file. Some of these nodes use tf transforms without problems along the execution, until I occasionally got the following error:

[ERROR] [1319643007.826130513]: TF Error: Lookup would require extrapolation into the past.  Requested time 1319642992.659315000 but the earliest data is at time 1319642999.409401932, when looking up transform from frame [/robot/front_laser] to frame [/robot/odom]

As I said, this transforms have successfully been resolved many times, but suddenly it seems I am requesting for a transform before the tf listener received its first message.

I am using the waitForTransform on this form:

ros::Time request_time = ros::Time(0);
tf_exists = tf_listener_.waitForTransform(target_frame, pose.header.frame_id, request_time, ros::Duration(1));

Then if I get the transform:

if(tf_exists)
{
  geometry_msgs::PoseStamped out_pose;
  tf_listener_.transformPose(target_frame, request_time, pose, fixed_frame, out_pose);
}

Has anybody experienced this same error before?

Thanks