try {
    // in fact, the function will throw std::rumtime_error in some situation, 
    // but the exception is not caught.
    projector_.transformLaserScanToPointCloud(message->header.frame_id, *message, cloud, *tf_);
  } catch (tf2::TransformException & ex) {
    ...
    projector_.projectLaser(*message, cloud);
  }

amcl:
	amcl lifecycle node launched. 
	Waiting on external lifecycle transitions to activate
	See https://design.ros2.org/articles/node_lifecycle.html for more information.
terminate called after throwing an instance of 'std::runtime_error'
  what():  cannot store a negative time point in rclcpp::Time

controller_server:
	controller_server lifecycle node launched. 
	Waiting on external lifecycle transitions to activate
	See https://design.ros2.org/articles/node_lifecycle.html for more information.
	local_costmap lifecycle node launched. 
	Waiting on external lifecycle transitions to activate
	See https://design.ros2.org/articles/node_lifecycle.html for more information.
terminate called after throwing an instance of 'std::runtime_error'
  what():  cannot store a negative time point in rclcpp::Time

planner_server:
	planner_server lifecycle node launched. 
	Waiting on external lifecycle transitions to activate
	See https://design.ros2.org/articles/node_lifecycle.html for more information.
	global_costmap lifecycle node launched. 
	Waiting on external lifecycle transitions to activate
	See https://design.ros2.org/articles/node_lifecycle.html for more information.
terminate called after throwing an instance of 'std::runtime_error'
  what():  cannot store a negative time point in rclcpp::Time