tf Lookup extrapolation into the past and future

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Code

listener = tf.TransformListener()
        listener.waitForTransform(self.robot_link, target_link, rospy.Time(), rospy.Duration(0.2)) 
        (trans, rot) = self.listener.lookupTransform(\
               self.robot_link, target_link, rospy.Time(0))

I added the listener . However, the error still exists.

listener = tf.TransformListener()
        # listener.waitForTransform(self.robot_link, target_link, rospy.Time(), rospy.Duration(0.2)) 
        # (trans, rot) = self.listener.lookupTransform(\
        #         self.robot_link, target_link, rospy.Time(0))

[ERROR] [1576884188.584635]: Error processing request: Lookup would require extrapolation into the past.  Requested time 1576884160.863920689 but the earliest data is at time 1576884184.773631096, when looking up transform from frame [tool/flashlight_pickup_link] to frame [base_link]

If I change my code to

now = rospy.Time.now()
listener.waitForTransform(self.robot_link, target_link, now, rospy.Duration(4.0))
(trans,rot) = listener.lookupTransform(self.robot_link, target_link, now)

The error will be

Lookup would require extrapolation into the future.  Requested time 1576884523.732362032 but the latest data is at time 1576884500.023826838