Problem about TF2 delay

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Hello, I'm trying use ROS2 ans S2 rplidar to establish map by Cartographer. However, when I moved my lidar in real world, the laser tf in Rviz would not move but the laserScan data would update correctly.

After I check tf2_monitor, it show that laser frame is delay 2~50s. Like below：

ros2 run tf2_ros tf2_monitor

Gathering data on all frames for 10 seconds...

RESULTS: for all Frames

Frames: Frame: base_link, published by <no authority available>, Average Delay: 0.000209381, Max Delay: 0.00391769 

Frame: laser_frame, published by <no authority available>, Average Delay: 7.57297, Max Delay: 7.57297 Frame: odom, published by <no authority available>, Average Delay: 0.000203073, Max Delay: 0.00390005

All Broadcasters: Node: <no authority available> 187.103 Hz, Average Delay: 0.000206227 Max Delay: 0.00390887

Then I check my base_link -> laser_frame carefully：

ros2 run tf2_ros tf2_monitor base_link laser_frame

Gathering data on base_link -> laser_frame for 10 seconds...

RESULTS: for base_link to laser_frame
Chain is: laser_frame -> base_link
Net delay     avg = 3.16691e+08: max = 1.66441e+09

Frames:
Frame: base_link, published by <no authority available>, Average Delay: 0.00019925, Max Delay: 0.000592947
Frame: laser_frame, published by <no authority available>, Average Delay: 10.8441, Max Delay: 10.8441

All Broadcasters:
Node: <no authority available> 183.478 Hz, Average Delay: 0.000195868 Max Delay: 0.000586987

And I put my rqt and tf_tree picture on my github. Please help me to deal with this delay problem. I just learn it for few days. And I google it but still not solve it. If you need more information, please tell me. Thank you！

github：https://github.com/j953302/ros...