As stated in the [tutorial](http://wiki.ros.org/tf/Tutorials/tf%20and%20Time%20%28Python%29) the following code
listener.waitForTransform( 'X', 'Y', rospy.Time(), rospy.Duration(5))
(a,b) = listener.lookupTransform( 'X', 'Y', rospy.Time())
should wait until any transformation between X and Y available is and then return it. But instead I get
ExtrapolationException: Lookup would require extrapolation into the future.
What do I have to do to get just the latest available transformation?
The problem occurs when I publish joint values and then try to get a transformation published by the robot_state_publisher.
Everythin is on the same pc.
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