tf error: Lookup would require extrapolation into the past

edit

Hi, all. I want to convert a pose from "odom" to "map", I am using codes as follows.

  void PeopleAgent::TransformPos(const people_msgs::PoseArrayWeighted &msg) 
   {
        boost::mutex::scoped_lock lock(agent_mutex_);

        pose_array_weighted_.clear();
        geometry_msgs::PoseStamped in;
        in.header = msg.header;
        for (int i = 0; i< (int)msg.poses.size(); i++)
        {
            in.pose = msg.poses[i];
            geometry_msgs::PoseStamped result;
            try
            {
                tf_->waitForTransform("odom", "base_link", in.header.stamp, ros::Duration(0.2));
                tf_->transformPose("base_link", in, result);
                pose_array_weighted_.push_back(std::make_pair(msg.weights[i], result));
            }
            catch (tf::TransformException ex)
            {
                ROS_ERROR("%s",ex.what());
                ROS_ERROR("point transform failed");
            };
        } 
}

The above code works fine in my project, However, when the "base_link" is changed to be " map", then errors come up as follows:

 [ERROR] [1426895120.908823306, 1422676721.758969255]: Lookup would require extrapolation into the past.  Requested time 1422676720.347031633 but the earliest data is at time 1422676720.654202231, when looking up transform from frame [odom] to frame [map]
    [ERROR] [1426895120.908922891, 1422676721.758969255]: point transform failed

I also have tried to use

tf_->waitForTransform("odom", "map", ros::Time(0), ros::Duration(0.2));

or

tf_->waitForTransform("odom", "map", ros::Time::now(), ros::Duration(0.2));

but all failed.

Please tell me the reason why above errors come up and how to modify the code. Thank you

EDIT: Just now, I found that the above code with "base_link" worked fine only for rosbag files. When it was run in a real robot( turtlebot), same errors with "from frame [odom] to frame [base_link]" came up too.

I am very confused and don't know what I should do next.