LaserScan from bag causing Error: "Lookup would require extrapolation into the past."

edit

Hello,

I am trying to convert a LaserScan message from a bag. On my header file, I have the following:

#include <ros/ros.h>
#include <tf/transform_listener.h>
#include "sensor_msgs/LaserScan.h"
#include "sensor_msgs/PointCloud.h"
#include <laser_geometry/laser_geometry.h>

class laserScan2PC   {
public:

ros::NodeHandle nh_;
ros::Subscriber scan_sub_;
ros::Publisher cloud_pub_;
tf::TransformListener listener;
tf::StampedTransform transform;
laser_geometry::LaserProjection projector_;
sensor_msgs::PointCloud2 cloud;
laserScan2PC(ros::NodeHandle nh_);

void scanCallback (const sensor_msgs::LaserScan::ConstPtr& scan_in);
};

And on the .cpp file:

#include "../include/PrecisionAgriculture/laserScan2PC.h"

laserScan2PC ::laserScan2PC(ros::NodeHandle nh) : nh_(nh){
// http://wiki.ros.org/tf/Tutorials/Writing%20a%20tf%20listener%20(C%2B%2B)
scan_sub_  = nh.subscribe("/base_scan/scan", 1000, &laserScan2PC::scanCallback, this);
cloud_pub_ = nh.advertise<sensor_msgs::PointCloud2>("/pt_cloud", 1);

}

void laserScan2PC :: scanCallback(const sensor_msgs::LaserScan::ConstPtr& scan_in)
{

    // http://wiki.ros.org/laser_geometry
    if(!listener.waitForTransform(scan_in->header.frame_id, "/base_link",scan_in->header.stamp + ros::Duration().fromSec(scan_in->ranges.size()*scan_in->time_increment),ros::Duration(2.0)))
    {
         ROS_ERROR("Unable to transform");
    }
    else
    {
        projector_.transformLaserScanToPointCloud("/base_link", *scan_in, cloud, listener);
    }
    cloud_pub_.publish(cloud);
}

The problem is that after having the following error messages (caused by the LookupTransform):

[ERROR] [1521684287.419099514]: Unable to transform
[ERROR] [1521684289.429183124]: Unable to transform
(...)
[ERROR] [1521684303.469321561]: Unable to transform
[ERROR] [1521684305.470800803]: Unable to transform

I get the following error:

terminate called after throwing an instance of 'tf2::ExtrapolationException'
  what():  Lookup would require extrapolation into the past.  Requested time 1357578703.109095188 but the earliest data is at time 1357578703.124125818, when looking up transform from frame [base_scan_link] to frame [base_link]
[laserScan2PC-2] process has died [pid 7674, exit code -6, (...)

Which is caused by the projector_.

I have tried to use ros::Time(0) or ros::Time::now() instead of the scan_in->header.stamp.

I think this is related to the fact that the stamp of the laser scan is not in agreement with the transform stamp, but I couldn't find a solution so far.

Finally, I am using the commands below before I play the bag:

rosparam use_sim_time_true
rosbag play --clock <nameOfTheBag>

Any hints on how to solve the error? Thank you in advance!

EDIT:

I have tried to use try/catch to avoid the exception but the problem remains unsolved, only avoiding the crashing of the program. Something like this:

ros::Time time;

try {
    time = scan_in->header.stamp + ros::Duration().fromSec(scan_in->ranges.size()*scan_in->time_increment);

    if(!listener.waitForTransform("/base_link", "/servo_link", time, ros::Duration(1.0)))
    {
        ROS_ERROR("Unable to transform");
        return;
    }
    projector_.transformLaserScanToPointCloud("/base_link", *scan_in, cloud, listener);
    ROS_INFO("Transform Retrieved!");
}
catch (tf::TransformException &ex) {
    ROS_ERROR("%s", ex.what());
    ros::Duration(1.0).sleep();
}

Which causes the output depicted below:

[ERROR] [1521729232.549585422]: Unable to transform
(...)
[ERROR] [1521729243.626700137]: Unable to transform
[ERROR] [1521729244.632651396]: Unable to transform
[ERROR] [1521729244.633163741]: Lookup would require extrapolation into the past.  Requested time 1357578703.149084276 but the earliest data is at time 1357578703.164612891, when looking up transform from frame [base_scan_link] to frame [base_link]
[ INFO] [1521729245.633830180]: Transform Retrieved!
[ INFO] [1521729245.634297009]: Transform Retrieved!
(...)
[ INFO] [1521729245.669169912]: Transform ...