pcl_ros::transformPointCloud shows Lookup would require extrapolation into the past

edit

I was trying to transform point cloud from camera frame to base_link frame using pcl_ros::transformPointCloud. However, the TF always show the error of Lookup would require extrapolation into the past. I checked carefully to make sure I have everything setup correctly but can't figure out why I have this error. Could you show me what I did wrong? Here is my code:

#include <...my stuffs..>
class cloudHandler{
    public:
        cloudHandler():
        {
            main_sub = nh.subscribe("pico_flexx/points",1,&cloudHandler::mainCB,this);  
            rail_plane_pub = nh.advertise<sensor_msgs::PointCloud2>("rail_plane",1);
            fit_rails_sub = nh.subscribe("rail_plane",1,&cloudHandler::fit_railsCB,this);   
        }
        void mainCB(const sensor_msgs::PointCloud2ConstPtr& input){ 

            pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
            pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_projected (new pcl::PointCloud<pcl::PointXYZ>);

            pcl::fromROSMsg(*input,*cloud);
            cloud_direction_y(cloud);
            cloud_direction_z(cloud);
            cloud_stat_remove(cloud);

            rail_plane(cloud, cloud_projected);     
        }
        void rail_plane(pcl::PointCloud<pcl::PointXYZ>::Ptr input, pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_projected){
            pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
            *cloud = *input;

            pcl::ModelCoefficients::Ptr floor_coefficients(new pcl::ModelCoefficients());
            pcl::PointIndices::Ptr floor_indices(new pcl::PointIndices());
            pcl::SACSegmentation<pcl::PointXYZ> floor_finder;
            floor_finder.setOptimizeCoefficients(true);
        floor_finder.setModelType(pcl::SACMODEL_PERPENDICULAR_PLANE);
            floor_finder.setMethodType(pcl::SAC_RANSAC);
            floor_finder.setMaxIterations(500);
            floor_finder.setAxis(Eigen::Vector3f(0,1,0));
            floor_finder.setDistanceThreshold(0.07);
            floor_finder.setEpsAngle(MYDEG2RAD(5));
            floor_finder.setInputCloud(boost::make_shared<pcl::PointCloud<pcl::PointXYZ> >(*cloud));
            floor_finder.segment(*floor_indices, *floor_coefficients);

            if (floor_indices->indices.size() > 3)
            {
                pcl::PointCloud<pcl::PointXYZ>::Ptr floor_points(new pcl::PointCloud<pcl::PointXYZ>);
                pcl::ExtractIndices<pcl::PointXYZ> extractor;
                extractor.setInputCloud(boost::make_shared<pcl::PointCloud<pcl::PointXYZ> >(*cloud));
                extractor.setIndices(floor_indices);
                extractor.filter(*floor_points);
                extractor.setNegative(true);
                extractor.filter(*cloud);


                pcl::ProjectInliers<pcl::PointXYZ> proj;
                proj.setModelType(pcl::SACMODEL_PLANE);
                proj.setInputCloud(floor_points);
                proj.setModelCoefficients(floor_coefficients);
                proj.filter(*cloud_projected);

                floor_points->header.frame_id = input->header.frame_id;
                floor_points->header.stamp = input->header.stamp;

                sensor_msgs::PointCloud2 msg;
                msg.header.stamp = ros::Time().now();
                pcl::toROSMsg(*cloud_projected,msg);

                rail_plane_pub.publish(msg);
            }
        }
        void fit_railsCB(const sensor_msgs::PointCloud2ConstPtr& input_from_camera_frame){              
            try{
                    cam_bl.waitForTransform("base_link","pico_flexx_optical_frame",ros::Time(0),ros::Duration(5));
                    cam_bl.lookupTransform("base_link","pico_flexx_optical_frame",ros::Time(0),cam_bl_tf);
            }
            catch(tf::TransformException &ex){
                    ROS_WARN("%s",ex.what());
            };

            sensor_msgs::PointCloud2 input_in_bl; 
            pcl_ros::transformPointCloud("base_link",*input_from_camera_frame,input_in_bl,cam_bl);
        }
    private:
        tf::TransformListener cam_bl;
        ros::NodeHandle nh;
        ros::Subscriber main_sub, fit_rails_sub;
        ros::Publisher  rail_pose_pub;  
};
int main(int argc, char **argv){
    ros::init(argc, argv, "pico_rails_node");
    cloudHandler handler;
    ros::spin();
    return 0;
}

And the error message:

[ERROR] [1518908418.439292642, 1518732053.305808327]: Lookup would require extrapolation into the past.  Requested time 1518732053.118709000 but the earliest data is at time 1518732053.201569502, when looking up transform from frame [pico_flexx_optical_frame] to frame [base_link]

A static tf between base_link -> pico_flexx_link is called in a launch file. pico_flexx_link -> pico_flexx_optical_frame is provided by the camera's driver.