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Hi, the error discribes the problem, so its about timing.

From the little data you posted it seems base_link --> kinect is the static transform publisher, it only publishes at 10 hz wich is very slow, and much slower as the other relevant ones. Example:

<launch> <node pkg="tf" type="static_transform_publisher" name="kinect_base_link5" args="0 0 0 0 1.57 0 /frame1 /frame2 100"/>
</launch>

The last value "100" is the publish frequency. At 100hz you should be able to get rid of the error.