lookup_transform error when interpolating in the past

When using lookup_transform in python I get the error:

[WARN] [1717586838.936111688] [Panasonic_state_publisher]: Could not transform work to g4_body: Lookup would require extrapolation into the past.  Requested time 1717586838.885793 but the earliest data is at time 1717586838.886000, when looking up transform from frame [g4_body] to frame [work]

This is unexpected, since I few lines before that I broadcast the transform. Which according to the error message above are received, but not taken. Additionally, as from the doc-string in the lookup_transform class I use the argument time=Time() to retrieve the latest transform.

The error shows up for ~ 1 second during initialization, before it disappears. But in my opinion it should not appear at all, as the same node is broadcasting and looking up in sequence.

This seems to be an error in the code, or an update of the documentation of tf2_ros that should be needed.

The broadcaster code:

        transform_msg = TransformStamped()
        transform_msg.header.stamp = self.get_clock().now().to_msg()
        transform_msg.header.frame_id = f"work_{work_attachment}"
        transform_msg.child_frame_id = "work"

        transform_msg.transform.translation.x = float(work_position[0])
        transform_msg.transform.translation.y = float(work_position[1])
        transform_msg.transform.translation.z = float(work_position[2])

        quat = Rotation.from_euler(
            "XYZ", work_rotation, degrees=work_rotation_degrees
        ).as_quat()
        transform_msg.transform.rotation.x = quat[0]
        transform_msg.transform.rotation.y = quat[1]
        transform_msg.transform.rotation.z = quat[2]
        transform_msg.transform.rotation.w = quat[3]

        self.tf_broadcaster.sendTransform(transform_msg)

The lookup code:

            transform = self.tf_buffer.lookup_transform(
                to_frame, from_frame, rclpy.time.Time()
            )
        except TransformException as ex:
            self.get_logger().warning(
                f"Could not transform {to_frame} to {from_frame}: {ex}"
            )
            return

ros / geometry2

lookup_transform error when interpolating in the past #563