Adding loop flag causes TF errors in localization with rosbag instructions
Description
The recently added loop flag causes TF errors in the localizer when trying to run the localization with rosbag instructions.
How to Reproduce
Run the instructions here: https://autowarefoundation.gitlab.io/autoware.auto/AutowareAuto/rosbag-localization-howto.html
Current Behavior
An error appears after the bag is replayed:
[ros2-11] [INFO] [1618312031.529682312] [rosbag2_storage]: Opened database '/home/jilada/rosbag2_2020_09_23-15_58_07/rosbag2_2020_09_23-15_58_07.db3' for READ_ONLY.
[ros2-11] [INFO] [1618312108.805324448] [rosbag2_storage]: Opened database '/home/jilada/rosbag2_2020_09_23-15_58_07/rosbag2_2020_09_23-15_58_07.db3' for READ_ONLY.
[pointcloud_fusion_node_exe-7] [WARN] [1618312109.015354367] []: Messages of type 0 arrived out of order (will print only once)
[pointcloud_fusion_node_exe-7] [WARN] [1618312109.015424414] []: Messages of type 2 arrived out of order (will print only once)
[pointcloud_fusion_node_exe-7] [WARN] [1618312109.015507551] []: Messages of type 3 arrived out of order (will print only once)
[pointcloud_fusion_node_exe-7] [WARN] [1618312109.015586555] []: Messages of type 4 arrived out of order (will print only once)
[pointcloud_fusion_node_exe-7] [WARN] [1618312109.015663210] []: Messages of type 5 arrived out of order (will print only once)
[pointcloud_fusion_node_exe-7] [WARN] [1618312109.015740063] []: Messages of type 6 arrived out of order (will print only once)
[pointcloud_fusion_node_exe-7] [WARN] [1618312109.015865522] []: Messages of type 7 arrived out of order (will print only once)
[p2d_ndt_localizer_exe-5] [ERROR] [1618312110.017144722] [localization.p2d_ndt_localizer_node]: BestEffortInitializer: Backwards extrapolation is not supported.Initialization timepoint is older
than the oldest available transform in the transform graph.
[rviz2-12] Warning: TF_OLD_DATA ignoring data from the past for frame odom at time 1600901888.424009 according to authority Authority undetectable
[rviz2-12] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
[rviz2-12] at line 332 in /tmp/binarydeb/ros-foxy-tf2-0.13.9/src/buffer_core.cpp
[p2d_ndt_localizer_exe-5] Warning: TF_OLD_DATA ignoring data from the past for frame odom at time 1600901888.424009 according to authority Authority undetectable
[p2d_ndt_localizer_exe-5] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
[p2d_ndt_localizer_exe-5] at line 332 in /tmp/binarydeb/ros-foxy-tf2-0.13.9/src/buffer_core.cpp
[p2d_ndt_localizer_exe-5] [ERROR] [1618312110.123776042] [localization.p2d_ndt_localizer_node]: BestEffortInitializer: Backwards extrapolation is not supported.Initialization timepoint is older
than the oldest available transform in the transform graph.
[p2d_ndt_localizer_exe-5] Warning: TF_OLD_DATA ignoring data from the past for frame odom at time 1600901888.524891 according to authority Authority undetectable
[p2d_ndt_localizer_exe-5] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
[p2d_ndt_localizer_exe-5] at line 332 in /tmp/binarydeb/ros-foxy-tf2-0.13.9/src/buffer_core.cpp
[rviz2-12] Warning: TF_OLD_DATA ignoring data from the past for frame odom at time 1600901888.524891 according to authority Authority undetectable
[rviz2-12] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
[rviz2-12] at line 332 in /tmp/binarydeb/ros-foxy-tf2-0.13.9/src/buffer_core.cpp
Expected behavior
The bag should loop over without errors or the loop flag should be removed.