python - ROS SLAM_toolbox queue is full and timestamp error - Stack Overflow

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Im using Ros2 humble and a ouster lidar. Im utilizing the Ros2 container ouster provides to expose the scan topics. Im attempting to use online async slam from slam tool bot but Im getting the error bellow when I run it using the command "ros2 launch slam_toolbox online_async_launch.py"

[async_slam_toolbox_node-1] [INFO] [1743355473.858619647] [slam_toolbox]: Message Filter dropping message: frame 'os_lidar' at time 404.359 for reason 'discarding message because the queue is full'

Increasing the buffer size doe not fix the issue and after doing some research it looks like it could be a tf issue. Ive attached an image of the tee below.

tf tree

This seems to be how it should be and when I add the laser scan topic to rviz the scans show up when the fixed frame is set to baselink as seen below

rviz with robot and scan

I also tried a work around where I just read and punlish the scan to a different scan topic at a slower rate but then I get time stamp errors as seen bellow.

[async_slam_toolbox_node-1] [INFO] [1743355498.853598783] [slam_toolbox]: Message Filter dropping message: frame 'os_lidar' at time 429.457 for reason 'the timestamp on the message is earlier than all the data in the transform cache'

Am a bit stumped and would really appreciate the help!

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