Running error of icp_mapper

[Babaevzhu]

Please give me some help. I catkin_make the project successfully, but when i run the mapper node with rosbag, it shows**:[ERROR] [1547624044.906055322]: I found no good points in the cloud.**
my data is in laser scan format not pointcloud, so I modify the PointMatcher_ros::rosMsgToPointMatcherCloud function in libpointmatcher to confirm whether the scan data is transformed properly.
As a result, it shows: libpointmatcher_ros: Couldn't transform point: Lookup would require extrapolation into the past. Requested time 1499154210.786858415 but the earliest data is at time 1547624037.313028756, when looking up transform from frame [laser_link] to frame [map].
I don't know how to solve the problem because this rosbag is running well in other slam project.

[SubMishMar]

I will suggest you to set the rosparam use_sim_time to true and use the flag --clock when you run your blag file.