No Transform to fixed frame map

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I am getting a transform error which I have not seen in hydro. I am having difficulty understanding the origin of this error. I am sending a scan to slam gmapping. Thank you for looking at this.

Transform [sender=unknown_publisher]
For frame [tower_link]: No transform to fixed frame [map]. TF error: [Lookup would require extrapolation into the future. Requested time 539.126000000 but the latest data is at time 539.089000000, when looking up transform from frame [tower_link] to frame [map]]

changed my tf freq on my static transforms from 100 to 10 and get the following error ...but why would it need a freq at all...its static? Why does it change the results. Changing the "map_update_interval" does not fix this either. I am not understanding something can someone please explain?

Transform [sender=unknown_publisher]
For frame [tower_link]: No transform to fixed frame [map]. TF error: [Lookup would require extrapolation into the future. Requested time 529.203000000 but the latest data is at time 529.200000000, when looking up transform from frame [tower_link] to frame [map]]