Octomap Self-filtering

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Hi, I'm using UR5 moveit model with a kinect. I followed this tutorial

http://docs.ros.org/hydro/api/pr2_mov...

to add the kinect like a sensor. I add some parameter to do a self robot filter, but when I launch the robot model (roslaunch ur5_moveit_config demo.launch) I get the next error:

[ERROR] [1425487423.826931655]: Transform error: Lookup would require extrapolation into the future.  Requested time   1425487423.780933888 but the latest data is at time 1425487423.751322031, when looking up transform from frame   [forearm_link] to frame [camera_rgb_optical_frame]
[ERROR] [1425487423.827004659]: Transform cache was not updated. Self-filtering may fail.

Anyone know how to solve it?

Thanks.

This is my yaml file:

sensors:
  - sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
    point_cloud_topic: /camera/depth_registered/points
    max_range: 5.0
    point_subsample: 1
    padding_offset: 0.1
    padding_scale: 1.0
    filtered_cloud_topic: filtered_cloud