Did God order the sacrifice or not?

Yirmiyahu - Jeremiah - Chapter 7
 
21. So says the Lord of Hosts, the God of Israel; Add your burnt offerings upon your sacrifices and eat flesh.
22. For neither did I speak with your forefathers nor did I command them on the day I brought them out of the land of Egypt, concerning a burnt offering or a sacrifice.
23. But this thing did I command them, saying: Obey Me so that I am your God and you are My people, and you walk in all the ways that I command you, so that it may be well with you.
24. But they did not obey nor did they incline their ear, but walked according to [their] own counsels and in the view of their evil heart, and they went backwards and not forwards.

My question is:
Is it not a contradiction with
 
Vayikra - Leviticus - Chapter 5
 
6 - and he shall bring his guilt offering to the Lord for his sin which he had committed, a female [animal] from the flock either a sheep or a goat, for a sin offering. And the kohen shall make atonement from his sin.
 
7 - But if he cannot afford a sheep, he shall bring as his guilt offering for that [sin] that he had committed, two turtle doves or two young doves before the Lord, one for a sin offering, and one for a burnt offering.
 
I am really confused on this
Please, I would like to understand this
 Did G-d order the sacrifice or not? Why Jeremiah told something that in Torah is written?

Thanks
Alex