You have to remember in the simulation parts of the Swarmie can time travel(gazebo artifact) so this just comes with the territory most of the Swarmie's code is robust against this except for the HomeTransformGen so yeah fix that.
Note this happens once in a blue moon but still would be cool to handel it
Transform exception raised by HomeTransformGen._home_pose():
Lookup would require extrapolation at time 8772.967000000, but only time 8772.991000000 is in the buffer, when looking up transform from frame [achilles/base_link] to frame [achilles/odom]
You have to remember in the simulation parts of the Swarmie can time travel(gazebo artifact) so this just comes with the territory most of the Swarmie's code is robust against this except for the HomeTransformGen so yeah fix that.
Note this happens once in a blue moon but still would be cool to handel it