slam_gmapping Message Filter dropping message with dynamic trasform [closed]

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I'm using a fork of slam_gmapping package for ROS2: https://github.com/Project-MANAS/slam...

As we all know, it requires the odometry tf transformation. Specifically, it requires the following transforms:

  cloud => base_link (where "cloud" is my laser_base frame)
  base_link => odom

As an output SLAM provides

odom => map transform

I was able to make it working with static transformations. So, I provided cloud => base_link and base_link => odom transforms and everything worked just fine. This is situation when my laser is static/no motion.

The following step was going to be pretty simple, but turned out to be not easy as I expected. If my laser is moving, then the solution to it is to leave the cloud => base_link as a static transform, and to add a dynamic transform base_link => odom, initiated either with the wall time (let's say 100ms) or as a callback to /odom message.

    now = this->get_clock()->now();
    transformStamped.header.stamp = now;
    transformStamped.header.frame_id = "odom";
    transformStamped.child_frame_id = "base_link";
    transformStamped.transform.translation.x = 0.0;
    transformStamped.transform.translation.y = 0.0;
    transformStamped.transform.translation.z = 0.0;
    transformStamped.transform.rotation.x = 0.0;
    transformStamped.transform.rotation.y = 0.0;
    transformStamped.transform.rotation.z = 0.0;
    transformStamped.transform.rotation.w = 1.0; 
    tf_broadcaster1_->sendTransform(transformStamped);

I tried different combinations and methods, no luck so far. My guess is that it might related to how the tf transforms are timed. I don't quite understand yet how this message filter is working, that's what it gives:

[slam_gmapping-1] [INFO] [1643650251.253186111] [slam_gmapping]: Message Filter dropping message: frame 'cloud' at time 1640201165.546 for reason 'Unknown

I cannot upload the pic of tf tree (given with ros2 run tf2_tools view_frames.py command), but it looks good to me: map => odom => base_link => cloud.

So, probably my question would boil down to the following: why having the static transforms everything works fine, and exchanging one transform (odom => base_link) would result in such an error. How specifically I can check that the transform is carried out properly and expected for the slam_gmapping algorithm.

PS: the forked gmapping looks the same as popular https://github.com/ros-perception/sla... for ROS1, but not officially supported as https://github.com/SteveMacenski/slam....