Lookup would require extrapolation

[Atharv-16]

After playing my ouster lidar rosbag and running hdl_graph_slam.launch, i face the given error in rviz while visualizing /filtered_points:

Transform [sender=unknown_publisher]
For frame [base_link]: No transform to fixed frame [map]. TF error: [Lookup would require extrapolation 1703967332.320200682s into the past. Requested time 543.432168000 but the earliest data is at time 1703967875.752368689, when looking up transform from frame [base_link] to frame [map]]

upon echoing /tf, I observed timestamps of map->odom and base_link->os_sensor (my lidar frame) to be around 1703968079 but odom->base_link and odom->keyframe is around 537

[shitoujie]

I think it's because your computing device lacks sufficient performance.
using rosrun tf tf_monitor /map /base_link and top may be helpful.
you can close rviz and use rosrun tf tf_monitor /map /base_link instead to get the data and description of TF erro you mentioned above