Michal, > RESULTS: for /map to /base_footprint > Chain is: /map -> /base_footprint -> /odom_combined > Net delay     avg = 0.020768: max = 0.064 [...] > the only weird thing is, that in rviz the transform arrows shows like > this: /base_footprint -> /odom_combined -> /map > might this be a sign of some problem? Yes, This is most likely your problem. It appears that you have a tf publisher from map to base_footprint, and another publisher from odom_combined to base_footprint. So the base_footprint frame has two parents. In our setup we have amcl publish the transform from map to odom combined, and the robot pose ekf publish the transform from odom_combined to base_footprint. What setup are you running? Did you reconfigure amcl to publish a different tf transform? Wim -- Wim Meeussen Willow Garage Inc.