tf2 transform error: Lookup would require extrapolation into the past

edit

Hi, I am currently trying to simulate a quadcopter in gazebo using mavros and px4 sitl. In this simulation, the quadcopter will identify an aruco marker, then attempt to center itself with that marker. To do so, I needed to transform the marker frame (on the ground) to the frame of the quadcopter itself (map). I have checked to see if all the frames I am working with are from the same tf but when I run the code, I get the error pictured below.

Using ROS kinetic, on ubuntu 16.04.

tf tree

these are two separate trees.

• local_origin]-->[local_origin_ned]-->[fcu_frd]-->[fcu]
• [map]-->[base_link]-->[marker_frame] (This is the tf I am working with)

Code

#include <ros/ros.h>
#include <tf2_ros/transform_listener.h>
#include <geometry_msgs/TransformStamped.h>
#include <geometry_msgs/PoseStamped.h>
#include <tf2_ros/buffer_interface.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
geometry_msgs::PoseStamped poseIn;
geometry_msgs::PoseStamped poseOut;
bool received; 

ros::Duration timeout; 
void callback(const geometry_msgs::PoseStamped& msg){
    poseIn = msg; 
    received= true; 
}

int main(int argc, char** argv){
    ros::init(argc, argv, "listener_test");
    ros::NodeHandle nh;
    ros::Subscriber sub = nh.subscribe("aruco_single/pose", 100, &callback); 
    tf2_ros::Buffer tfBuffer;
    tf2_ros::TransformListener tfListener(tfBuffer);

    ros::Rate rate(10.0); //rate 10 
    sleep(1);

    while (nh.ok()){
        try{
            if(received){poseOut = tfBuffer.transform(poseIn, "map", ros::Duration(0.0));}
        }
        catch (tf2::TransformException &ex) {
            ROS_WARN("%s",ex.what());
            ros::Duration(1.0).sleep();
                continue;
        }
    rate.sleep();
    ros::spinOnce();
    }
    return 0;
}

Error

[ WARN] [1560275941.431970740, 1406.020000000]: Lookup would require extrapolation into the past.  Requested time 1405.716000000 but the earliest data is at time 1560275940.551247808, when looking up transform from frame [base_link] to frame [map]