Getting the error :"terminate called after throwing an instance of 'tf2::ExtrapolationException' what(): Lookup would require extrapolation into the future. "

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I'm trying to convert a laserscan into a point cloud. I have used this code : http://answers.ros.org/question/11232... .

Now, when I play the bag, I run the tf static_transform_publisher and I run the mentioned code, I get this error:

terminate called after throwing an instance of 'tf2::ExtrapolationException' what(): Lookup would require extrapolation into the future. Requested time 1448633914.965443600 but the latest data is at time 1448633914.954737805, when looking up transform from frame [laser] to frame [base_link]

The bag contains only the scan topic from the laser, the static_transform_publisher publishes the transform between the laser frame and the base frame. What am I doing wrong?

Thanks in advance!