TF_OLD_DATA error when I publish a new topic.

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Hello,

I'm trying to create a map of the environment using pcl_ndt. I use data from simulated velodyne in gazebo. I'm subscribing to PointCloud2 msg and publishing the genrated map via PointCloud2 msg in new topic /ndt_map

However, after a few seconds of publishing /nadt_map topic, I got this warning :

Warning: TF_OLD_DATA ignoring data from the past for frame base_link at time 36,221 according to authority /ndt_map
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
         at line 277 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/src/buffer_core.cpp

I already used this command that should have solved the problem:

rosparam set use_sim_time true

but the error still persist.

I saw that this could happen when reproducing bagfile, but for my case, I'm using online data from the gazebo simulator.

Thanks for helping shedding light on this issue!

UPDATE: this is my callback :

void pts_callback(const sensor_msgs::PointCloud2::ConstPtr& input){
        // Convert the sensor_msgs/PointCloud2 data to pcl/PointCloud
        pcl::fromROSMsg(*input, cloud);

        ndt.align(*outputCloud, init);

        // Get the transformation matrix
        t = ndt.getFinalTransformation();

        // Transforme the cloud with the transformation matrix
        pcl::transformPointCloud(cloud, *transformed_cloud, t);

    tf::TransformBroadcaster br;
        tf::Transform transform;

    //create tf transform from t
    transform = get_tf_transform(t);

        br.sendTransform(tf::StampedTransform(transform, input->header.stamp, "world", "base_link"));

        sensor_msgs::PointCloud2::Ptr map_msg(new sensor_msgs::PointCloud2);
        pcl::toROSMsg(*transformed_cloud, *map_msg);

        ndt_pub.publish(*map_msg);
}

I'm subscribing to VelodyneScan packets with :

points_sub_ = nd.subscribe("velodyne_points", 100000, &pts_callback, this);

and I publish map with :

ndt_pub = nd.advertise<sensor_msgs::PointCloud2>("ndt_map", 1000);