TF_REPEATED_DATA issue

edit

Hello, I'm trying to use

rosrun tf2_tools view_frames.py

but I get spammed with warnings:

Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame wheel_left_link at time 684.167000 according to authority /tb3_1/robot_state_publisher
         at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp

I also tried writing python code with a listener, but I get almost the same warnings, here's the code:

import rospy
from geometry_msgs.msg import Twist
from sensor_msgs.msg import LaserScan
import math
import tf2_ros

class move_bot:
    def __init__(self):
        self.pub = rospy.Publisher("tb3_1/cmd_vel",Twist,queue_size=100)
        self.sub = rospy.Subscriber("tb3_1/scan",LaserScan,self.callback)
        self.linx = 1
        self.angz = 0.2


    def control(self):
        move = Twist()

        K_d = 0.005
        #K_beta


        move.linear.x = self.linx
        move.angular.z = self.angz


        #xi_d = (error_d/rho_d)

        #epsilon_d = log((1+(xi_d/M_d))/(1+(xi_d/M_d)))

        #v = Kd*epsilon_d
        #w = K_beta*rho_inv*r_beta*epsilon_beta


        self.pub.publish(move)

    def callback(self,msg):
        min_dist = 1
        print(msg.ranges[0])
        if(msg.ranges[0]<min_dist):
            self.linx = -1
        else:
            self.linx = 1


if __name__ == '__main__':
    rospy.init_node("simple_follow")
    rate = rospy.Rate(1)
    obj = move_bot()

    tfBuffer = tf2_ros.Buffer(rospy.Duration(1200.0))
    listener = tf2_ros.TransformListener(tfBuffer)

    while not rospy.is_shutdown():
        try:
            trans = tfBuffer.lookup_transform("tb3_1", "tb3_1/base_footprint", rospy.Time(0))
        except(tf2_ros.LookupException, \
                tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException):  
            rate.sleep()
            continue

        #x = trans[0]
        #print(x)
        #obj.control()

Wondering what could be the problem. Thanks in advance

Edit:

For multiple robots I just took the file from the turtlebot3_gazebo pack, this file: https://github.com/ROBOTIS-GIT/turtle... , and just made adjustments so that there are two turtlebots instead of 3, and then just added the ros_link_attacher plugin and an aruco marker to the world.

This is the tf tree

This is my world file:

<sdf version='1.6'>
  <world name='default'>
    <!-- A global light source -->
    <include>
      <uri>model://sun</uri>
    </include>

    <!-- A ground plane -->
    <include>
      <uri>model://ground_plane</uri>
    </include>

        <!--
     <include>
      <uri>model://marker</uri>
    </include>
    -->


    <plugin name="ros_link_attacher_plugin" filename="libgazebo_ros_link_attacher.so" />

    <physics type="ode">
      <real_time_update_rate>1000.0</real_time_update_rate>
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1</real_time_factor>
      <ode>
        <solver>
          <type>quick</type>
          <iters>150</iters>
          <precon_iters>0</precon_iters>
          <sor>1.400000</sor>
          <use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
        </solver>
        <constraints>
          <cfm>0.00001</cfm>
          <erp>0.2</erp>
          <contact_max_correcting_vel>2000.000000</contact_max_correcting_vel>
          <contact_surface_layer>0.01000</contact_surface_layer>
        </constraints>
      </ode>
    </physics>

    <!-- Load world -->
    <include>
      <uri>model://turtlebot3_square</uri>
    </include>

    <scene>
      <ambient>0.4 0.4 0.4 1</ambient>
      <background>0.7 0.7 0.7 1</background>
      <shadows>true</shadows>
    </scene>

    <gui fullscreen='0'>
      <camera name='user_camera'>
        <pose>0.0 0.0 17.0 0 1.5708 0</pose>
        <view_controller>orbit</view_controller>
      </camera>
    </gui>
  </world>
</sdf>

and this is my launch file:

<launch>
  <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
  <arg name="first_tb3"  default="tb3_0"/>
  <arg name="second_tb3" default="tb3_1"/>

  <arg name="first_tb3_x_pos" default="0.0"/>
  <arg name="first_tb3_y_pos" default="1.0"/>
  <arg name="first_tb3_z_pos" default ...