make tf from rosbag data raw

Hello, I am trying to make tf tree from rosbag file and raw topics like /imu/data and /scan without tf topic. At the time when record the bagfile, we don't know the tf jet and now we want to make the tf appropriate tree. We are doing tf static transform with static_transform_publisher nodes by launch file: In imu msg topic, the header is the follow: header: seq: 49958 stamp: secs: 1410520339 nsecs: 565862711 frame_id: imu Frame_id : imu. The same for the laser data: header: seq: 1831 stamp: secs: 1410520215 nsecs: 426117012 frame_id: laser angle_min: -0.872664630413 angle_max: 0.872664630413 angle_increment: 0.00436332309619 time_increment: 3.70370362361e-05 scan_time: 0.0533333346248 range_min: 0.0 range_max: 81.0 Notice that both frame publisher are "imu" and "laser". Now we run the launch file generating the tree but when we want to see in rviz, appear the next msg: In imu frame: Transform [sender=unknown_publisher] Message removed because it is too old (frame=[imu], stamp=[1410520316.775747058]) In laser frame. Transform [sender=unknown_publisher] Message removed because it is too old (frame=[laser], stamp=[1410520194.940736519]) The problem is the msg has other timestamp as the tf_publisher. What is the best strategy to make new tf with old timestamp to use the raw data from the rosbag file? The aim is watch the robot pose and the map/odometry just with the rosbag sensors. I read hector_mapping can do the thing but need tf in order to make correct odometry.