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Add tf.ExtrapolationException to the list of exceptions to be discarded when making the call to tf.lookupTransform. New code will look like this,

    try:
        (trans,rot) = listener.lookupTransform('/turtle2', '/turtle1', rospy.Time())
    except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException):
        continue

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