Transform from Map -> Base Footprint uses a weird time transform

[jacobwaller]

Not sure if my issue here is with slam-toolbox or with create_robot, but it seems like my transform from map -> base_footprint is broken.

Oddly enough, the individual transforms from Map -> Odom & Odom -> Base_Footprint work great, but going from Map -> Base_Footprint gives me the error: [INFO] [1619986350.507533125] [tf2_echo]: Waiting for transform map -> base_footprint: Lookup would require extrapolation into the past. Requested time 0.200000 but the earliest data is at time 1619986346.813953, when looking up transform from frame [base_footprint] to frame [map]

Using the foxy-ci branch here. Here's an image of the relevant part of my transform map:

Wondering if anyone has seen something like this before

[jacobwaller]

To solve this error, I just had to call nav2 with the argument use_sim_time:=false

Now that I've done this, everything seems to be working completely fine.