Realsense d435 Lookup would require extrapolation into the future

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Hello!

I am using a realsense d435 rgbd camera to capture the world around the robot.

I am performing coordinate transformation in the camera callback pcCallback(const sensor_msgs::PointCloud2ConstPtr& cloud_msg) (in cca every 1 sec, just if a condition is satisfied..)

I perform the transformation with:

success = camTfListener->waitForTransform(REF_FRAME,SOURCE_FRAME,ros::Time(0),ros::Duration(10.0),ros::Duration(0.01),&error_msg);

I only continue with the processing if success is true (so if the transformation was successful - i assume...)

But what i experience is, that even if the transformation is unsuccessful, the function waitForTransform returns true. Is this possible?

So i get in the same time:

1)success=true and

2)[ERROR]: Lookup would require extrapolation into the future. Requested time 1566215389.147320515 but the latest data is at time 1566215389.029921464, when looking up transform from frame [camera_color_optical_frame] to frame [base_link]

Also since success was true, i my algorithm continues with image processing and i get lots of errors such as [pcl::VoxelGrid::applyFilter] Input dataset doesn't have x/y/z coordinates, etc...

Can you please give some hints how to solve this issue?

Remark: the camera works on 30 fps, i have also a static_transform_publisher running on 100Hz - that links the camera_link to the end_effector of the robot.

Thank you in advance.