Robot_Localization_Demo: problem with rviz2 and ekf_node Warning: TF_OLD_DATA ignoring data from the past

[wongearth]

I am trying to follow the sam_bot tutorial but got stuck at the robot_localization demo using ekf_node. Below is the error/warning when running

ros2 launch sam_bot_description display.launch.py

By running "ros2 run tf2_ros tf2_echo odom base_link", similar errors/warning occured. In rviz the odom franme seems to drift. I reinstalled ros2, navigation2 both binary and build from source...no luck. Anyone know what the problem is?... Thanks

[rviz2-6] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained [rviz2-6] at line 292 in /home/xxx/ros2_humble/src/ros2/geometry2/tf2/src/buffer_core.cpp [ekf_node-5] Warning: TF_OLD_DATA ignoring data from the past for frame drivewhl_l_link at time 755.451000 according to authority Authority undetectable [ekf_node-5] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained [ekf_node-5] at line 292 in /home/xxx/ros2_humble/src/ros2/geometry2/tf2/src/buffer_core.cpp [rviz2-6] Warning: TF_OLD_DATA ignoring data from the past for frame drivewhl_l_link at time 755.451000 according to authority Authority undetectable [rviz2-6] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained [rviz2-6] at line 292 in /home/xxx/ros2_humble/src/ros2/geometry2/tf2/src/buffer_core.cpp [ekf_node-5] Warning: TF_OLD_DATA ignoring data from the past for frame drivewhl_r_link at time 755.461000 according to authority Authority undetectable [ekf_node-5] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained [ekf_node-5] at line 292 in /home/xxx/ros2_humble/src/ros2/geometry2/tf2/src/buffer_core.cpp [rviz2-6] Warning: TF_OLD_DATA ignoring data from the past for frame drivewhl_r_link at time 755.461000 according to authority Authority undetectable