"message removed becuase it is too old "while fixed frame is set to map?

edit

I have been trying to create my own bot that could navigate. my tf tree is as follows:

map >> odom >> base_link >> hokoyo_link

whenever I select "base_link" LaserScan is fine but when set "map" as a fixed frame in LaserScan plugin (in rviz) shows error :

Message removed because it is too old (frame=[hokuyo_link], stamp=[4479.536000000])

I'm attaching tf tree for your reference link to tf tree

thanks in advance

EDIT -1 @gvhoorn by plugins do u mean that I should only have components which is inside the plugin tag and delete other components in my xacro file.Her is the xacro file for your reference

<gazebo reference="hokuyo_link">
<material>Gazebo/FlatBlack</material>
<sensor type="ray" name="lds_lfcd_sensor">
  <pose>0 0 0 0 0 0</pose>
  <visualize>false</visualize>
  <update_rate>5</update_rate>
  <ray>
    <scan>
      <horizontal>
        <samples>360</samples>
        <resolution>1</resolution>
        <min_angle>0.0</min_angle>
        <max_angle>6.28319</max_angle>
      </horizontal>
    </scan>
    <range>
      <min>0.120</min>
      <max>3.5</max>
      <resolution>0.015</resolution>
    </range>
    <noise>
      <type>gaussian</type>
      <mean>0.0</mean>
      <stddev>0.01</stddev>
    </noise>
  </ray>
  <plugin name="gazebo_ros_lds_lfcd_controller" filename="libgazebo_ros_laser.so">
    <topicName>scan</topicName>
    <frameName>base_link</frameName>
  </plugin>
</sensor>

</gazebo>