Messages Dropped in tf while running a Gmapping node

edit

I have mounted an Ouster lidar(OS1 32) on Clearpath Husky and changed the startup launcher on Husky. All of the system starts fine including Ouster but its driver takes some time to launch. I also included a launch file to launch pointcloud_to_laserscan in order to use gmapping. But when I launch gmapping it gives me warning:

[ WARN] [1628510026.166979944]: MessageFilter [target=odom ]: Dropped 100.00% of messages so far. Please turn the [ros.gmapping.message_filter] rosconsole logger to DEBUG for more information.

[ WARN] [1628510026.167108311]: MessageFilter [target=odom ]:   The majority of dropped messages were due to messages growing older than the TF cache time.  The last message's timestamp was: 1521.345187, and the last frame_id was: os_sensor

Also I can't see any map built.

Can anyone give me an idea how to solve this problem?

To me I think the issue is that the ouster node is launched a little late and this time delay is creating the issue (so may be republishing the lidar data with current timestamp solve the issue?) or pointcloud_to_laserscan node publishes on /scan topic whenever there is a subscriber(may be this is causing an issue?)

Launch file for pointcloud_to_laserscan:

<?xml version="1.0"?>
<launch>

  <node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="ouster_laserscan_node" output="screen" required="true">
    <remap from="/cloud_in" to="/ouster/points"/>
    <remap from="/scan" to="/ouster/scan"/>

    <param name="~/min_height"        value="0.0"/>
    <param name="~/max_height"        value="5.0"/>
    <param name="~/angle_min"         value="-0.3926991"/>
    <param name="~/angle_max"         value="0.3926991"/>
    <param name="~/angle_increment"   value="0.006135"/>
    <param name="~/scan_time"         value="0.3333"/> 
    <param name="~/range_min"         value="0.3"/>
    <param name="~/range_max"         value="45"/>       
    <!-- <param name="~/target_frame"      value=""/> # Leave disabled to output scan in pointcloud frame -->
    <param name="~/concurrency_level" value="0"/>
    <param name="~/use_inf"           value="true"/>
  </node>

</launch>

Any help/suggestions are highly appreciated.

Edit 1:

Just to check what could be the problem I used topic_tools transform node to republish the data just by updating the timestamps and the error is gone. I am really not sure if this is the write thing to do as I am not aware this can make problem?

Edit 2:

Republishing the data.

<?xml version="1.0"?>
<launch>

  <arg name="topic_in"  default="/ouster/points" />
  <arg name="topic_out" default="/ouster/points/filtered" />

  <node name="ouster_points_filter" pkg="topic_tools" type="transform"
        args="$(arg topic_in) $(arg topic_out)
              sensor_msgs/PointCloud2                                            
              'sensor_msgs.msg.PointCloud2(header=std_msgs.msg.Header(stamp=rospy.Time.now(), frame_id=m.header.frame_id), 
                                           height=m.height, width=m.width, fields=m.fields, is_bigendian=m.is_bigendian,
                                           point_step=m.point_step, row_step=m.row_step, data=m.data, is_dense=m.is_dense)'
                                           --import sensor_msgs std_msgs rospy"/>

</launch>