"right_arm_base_link" passed to lookupTransform argument target_frame does not exist.

edit

ros kinetic, ubuntu 16.04, gazebo 7, intera 5.2 (for sawyer robot), kinect camera in simulation.

trying to transform pointcloud from kinect frame to base from of a sawyer robot. i've coded for this inside another void function that estimates the normals for each point in a point cloud.

trying to use transformPointCloud from /tf. code compiles properly, but i get the following error:

[ERROR] [1527657751.698135439, 3503.701000000]: Lookup would require extrapolation at time 3503.478000000, but only time 3503.692000000 is in the buffer, when looking up transform from frame [depth_link] to frame [right_arm_base_link]

when i "ctrl+c"

terminate called after throwing an instance of 'tf2::LookupException'
  what():  "right_arm_base_link" passed to lookupTransform argument target_frame does not exist.

This is the code i'm using.

tf::TransformListener listener;
tf::StampedTransform transform;

// Perform point cloud transformation

ros::Time now = ros::Time(0);

listener.waitForTransform("/right_arm_base_link", "/depth_link", now, ros::Duration(5.0), ros::Duration(2));//, error_msg); // base on line 193 of /tf/tf.h
listener.lookupTransform("/right_arm_base_link", "/depth_link", now, transform); // based on line 129 /tf/tf.h
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr trans_cloud (new pcl::PointCloud<pcl::PointXYZRGBNormal>);
pcl_ros::transformPointCloud("/right_arm_base_link", *cloud_with_normals, *trans_cloud, listener); // based on line 131 /pcl_ros/transforms.h

// Publish transformed point cloud
sensor_msgs::PointCloud2 ros_trans_out;
pcl::toROSMsg( *trans_cloud, ros_trans_out);
tf_pub.publish (ros_trans_out);

*cloud_with_normals is of type PointCloud2 and is my point cloud in. *trans_cloud is my point cloud out, also PointCloud2. the goal is to be able to publish the transformed point cloud to a rostopic (publisher has been omitted from the question). my concern is that right_arm_base_link is not being recognised, but it appears in the transformation tree when i used $ rostopic echo /tf.

I can also use the following to determine the actual transformation between right_arm_base_link and depth_link:

$ rosrun tf tf_echo right_arm_base_link depth_link

and it will yield:

At time 2358.846
- Translation: [0.547, 0.183, 0.017]
- Rotation: in Quaternion [-0.081, 0.701, 0.080, 0.704]
            in RPY (radian) [-0.336, 1.567, -0.108]
            in RPY (degree) [-19.257, 89.763, -6.202]
At time 2359.846
- Translation: [0.547, 0.183, 0.017]
- Rotation: in Quaternion [-0.081, 0.701, 0.080, 0.704]
            in RPY (radian) [-0.335, 1.567, -0.107]
            in RPY (degree) [-19.206, 89.763, -6.146]

can anyone suggest what i'm doing wrong or how to fix this issue? i will provide more detail if and when needed.

Thanks in advance!

~ Luke

EDIT

I've tried to use a try/catch. see code below.

    try{
        listener.waitForTransform("/right_arm_base_link", "/depth_link", now, ros::Duration(5.0), ros::Duration(2)); // base on line 193 of /tf/tf.h
        listener.lookupTransform("/right_arm_base_link", "/depth_link", now, transform); // based on line 129 /tf/tf.h
        }
    catch(tf::LookupException){
        std::cerr << "Transform lookup failed" << std::endl;
        }

I still receive the error regarding extrapolating the transformation for a time other than the requested time. now is still the same as the now defined in the code above.