rviz2.launch.py comes up with missing base_scan to odom transfomations

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Errors Summary

See terminal logs below for context.

[rviz2-1] [ERROR] [rviz2]: "odom" passed to lookupTransform argument target_frame does not exist. 

[rviz2-1] [ERROR] [rviz2]: Lookup would require extrapolation at time 1584986803.26380, but only time 1584986802.72272 is in the buffer, when looking up transform from frame [base_scan] to frame [odom]

[rviz2-1] [ERROR] [rviz2]: Lookup would require extrapolation into the future.  Requested time 1584986803.66511 but the latest data is at time 1584986802.77269, when looking up transform from frame [base_scan] to frame [odom]

Nonstandard TB3 Configuration

• Intel NUC with Linux 18.04
• ROS 2 Dashing
• NUC is physically mounted on the TB3
• For testing - keyboard, monitor and mouse are connected directly to NUC
• Navigation2 and Mapping will be run on the NUC

Working

teleop_keyboard: That means a lot of stuff is working correctly.

Terminal Logs

TERMINAL 1

$ tail .bashrc
    export TURTLEBOT3_MODEL=waffle
    source /opt/ros/dashing/setup.bash
    source turtlebot3_ws/install/setup.bash


  $ ros2 launch turtlebot3_bringup robot.launch.py

[INFO] [launch]: All log files can be found below /home/eepp/.ros/log/2020-03-23-11-01-54-260118-hood-14580
[INFO] [launch]: Default logging verbosity is set to INFO
        urdf_file_name : turtlebot3_waffle.urdf
[INFO] [robot_state_publisher-1]: process started with pid [14590]
[INFO] [hlds_laser_publisher-2]: process started with pid [14591]
[INFO] [turtlebot3_ros-3]: process started with pid [14592]
[robot_state_publisher-1] Initialize urdf model from file: /home/eepp/turtlebot3_ws/install/turtlebot3_description/share/turtlebot3_description/urdf/turtlebot3_waffle.urdf
[robot_state_publisher-1] Parsing robot urdf xml string.
[robot_state_publisher-1] Link base_link had 7 children
[robot_state_publisher-1] Link camera_link had 2 children
[robot_state_publisher-1] Link camera_depth_frame had 1 children
[robot_state_publisher-1] Link camera_depth_optical_frame had 0 children
[robot_state_publisher-1] Link camera_rgb_frame had 1 children
[robot_state_publisher-1] Link camera_rgb_optical_frame had 0 children
[robot_state_publisher-1] Link caster_back_left_link had 0 children
[robot_state_publisher-1] Link caster_back_right_link had 0 children
[robot_state_publisher-1] Link imu_link had 0 children
[robot_state_publisher-1] Link base_scan had 0 children
[robot_state_publisher-1] Link wheel_left_link had 0 children
[robot_state_publisher-1] Link wheel_right_link had 0 children
[robot_state_publisher-1] got segment base_footprint
[robot_state_publisher-1] got segment base_link
[robot_state_publisher-1] got segment base_scan
[robot_state_publisher-1] got segment camera_depth_frame
[robot_state_publisher-1] got segment camera_depth_optical_frame
[robot_state_publisher-1] got segment camera_link
[robot_state_publisher-1] got segment camera_rgb_frame
[robot_state_publisher-1] got segment camera_rgb_optical_frame
[robot_state_publisher-1] got segment caster_back_left_link
[robot_state_publisher-1] got segment caster_back_right_link
[robot_state_publisher-1] got segment imu_link
[robot_state_publisher-1] got segment wheel_left_link
[robot_state_publisher-1] got segment wheel_right_link
[robot_state_publisher-1] Adding fixed segment from base_footprint to base_link
[robot_state_publisher-1] Adding fixed segment from base_link to camera_link
[robot_state_publisher-1] Adding fixed segment from camera_link to camera_depth_frame
[robot_state_publisher-1] Adding fixed segment from camera_depth_frame to camera_depth_optical_frame
[robot_state_publisher-1] Adding fixed segment from camera_link to camera_rgb_frame
[robot_state_publisher-1] Adding fixed segment from camera_rgb_frame to camera_rgb_optical_frame
[robot_state_publisher-1] Adding fixed segment from base_link to caster_back_left_link
[robot_state_publisher-1] Adding fixed segment from base_link to caster_back_right_link
[robot_state_publisher-1] Adding fixed segment from base_link to imu_link
[robot_state_publisher-1] Adding fixed segment from base_link to base_scan
[robot_state_publisher-1] Adding moving segment from base_link to wheel_left_link
[robot_state_publisher-1] Adding moving segment from base_link to wheel_right_link
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Init TurtleBot3 Node Main
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Init DynamixelSDKWrapper
[turtlebot3_ros-3] [INFO] [DynamixelSDKWrapper]: Succeeded to open the port(/dev/ttyACM0)!
[turtlebot3_ros-3] [INFO] [DynamixelSDKWrapper]: Succeeded to change the baudrate!
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Start Calibration of Gyro
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Calibration End
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Add Motors
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Add Wheels ...