Extrapolation Error looking up robot pose: Lookup would require extrapolation into the past. Requested time 5381.303000000 but the earliest data is at time 5381.316000000, when looking up transform from frame [base_footprint] to frame [map]

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Hi

I am running cartographer_turtlebot with my own bag.

The mapping works, but the terminal outputs ERROR (in the rviz, you can see the submap just jump to some other place then jump back)

below is the ERROR

Extrapolation Error looking up robot pose: Lookup would require extrapolation into the past.  Requested time 5381.303000000 but the earliest data is at time 5381.316000000, when looking up transform from frame [base_footprint] to frame [map]

I checked the tf_tree and confirmed the tree connection is:

map -> odom -> base_footprint -> base_link so the base_footprint is connected to the map.

Why there is a error?

Thank you