Hi, I am still a newbie in ROS and I came across slamtoolbox which intrigued me to try out. I looked at the roscon video as well the git repository. With these, I tried to create a map using a bag file from MIT and I was successful in generating one. But when I tried to use the localization mode of the slamtoolbox it initialises perfectly, but when I try to re-run the same bag to check if it's localizing properly it throws me this error,

[ INFO] [1643274146.831738269]: Node using stack size 40000000 [ INFO] [1643274146.886483355]: CeresSolver: Using SCHURJACOBI preconditioner. [ INFO] [1643274146.886554971]: Using plugin solverplugins::CeresSolver Load From File /home/mohammed-azeem/slamtoolboxws/src/slamtoolbox-noetic-devel/maps/2011-01-24-06-18-27/t2.posegraph Mapper <- Module Mapper <- mpSequentialScanMatcher Mapper <- mpGraph MapperGraph <- Graph; Graph <- mEdges; Graph <- mVertices MapperGraph <- mpMapper; MapperGraph <- mpLoopScanMatcher; MapperGraph <- mpTraversal Mapper <- mpMapperSensorManager MapperSensorManager <- mScanManagers; MapperSensorManager <- mScans Mapper <- mListeners Finished serializing Mapper Load From File Serializing Dataset Dataset <- mSensorNameLookup Dataset <- mData Dataset <- mLasers Dataset <- mpDatasetInfo Finished serializing Dataset Registering sensor: [Custom Described Lidar] [ INFO] [1643274146.969252289]: Waiting for incoming scan to get metadata... [ INFO] [1643274147.087472258]: Got scan!

[ERROR] [1643274147.087628005]: Failed to compute laser pose, aborting continue mapping (Lookup would require extrapolation at time 1295878707.937325239, but only time 1295878707.873259306 is in the buffe, when looking up transform from frame [baselaserlink] to frame [basefootprint]) [slamtoolbox-2] process has died [pid 484858, exit code 255, cmd /home/mohammed-azeem/slamtoolboxws/devel/lib/slamtoolbox/localizationslamtoolboxnode _name:=slamtoolbox _log:=/home/mohammed-azeem/.ros/log/d8d4ab62-7f4f-11ec-8ddf-0b09d3f78d63/slamtoolbox-2.log]. log file: /home/mohammed-azeem/.ros/log/d8d4ab62-7f4f-11ec-8ddf-0b09d3f78d63/slam_toolbox-2*.log

My launch file is as follows:

<launch>
  <node pkg="slam_toolbox" type="localization_slam_toolbox_node" name="slam_toolbox" output="screen">
    <rosparam command="load" file="$(find slam_toolbox)/config/localization.yaml" />
  </node>
    <node type="rviz" name="rviz" pkg="rviz" args="-d $(find slam_toolbox)/rviz/mera_rviz.rviz" />
    <param name="/use_sim_time" value="true"/>
</launch>

My localization.yaml file is the same as default except the following params as follows:

odom_frame: odom_combined
map_frame: map
base_frame: base_footprint
scan_topic: /base_scan
mode: localization
map_file_name: /home/mohammed-azeem/slam_toolbox_ws/src/slam_toolbox-noetic-devel/maps/2011-01-24-06-18-27/t2
map_start_pose: [0.0, 0.0, 0.0]

After creating the map, i serialized the map and even deserialized the same while running the localization mode. I have attached my tf tree as well, I sense there's some error in tf but I can't quite figure it out and IDK where I am going wrong, so can someone please point out my mistake. I am using ROS Noetic on Ubunutu 20.04.