My robot's location x,y cannot be localised in map, but turning can be detected.

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Hi, I am still new to ROS2. I am doing navigation with nav2 for a robot in simulation. I got a strange issue. With initial position set, map shown, laser scan shown, it seemed the new location could not be calculated by amcl after the robot moved.

Interestingly, when the robots turn direction, the rviz2 can show it.

Here is the screen recording. https://drive.google.com/file/d/1xBz4...

Some suspicious error in the log like this. However, I am not sure if that's the root cause.

[component_container_isolated-1] [INFO] [1678724637.800331857] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Lookup would require extrapolation into the past. Requested time 36.113000 but the earliest data is at time 36.724000, when looking up transform from frame [base_link] to frame [map] [component_container_isolated-1] [INFO] [1678724638.300416763] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Lookup would require extrapolation into the past. Requested time 36.553000 but the earliest data is at time 36.724000, when looking up transform from frame [base_link] to frame [map]

Any help is appreciated. I have been stuck for days. Thank you.