I think for a good portion of the use-cases this doesn't come up as typically you wouldn't have more than 15-25 transforms in TF. With more complex robots (humanoids, quadrupeds, etc) there's a significant increase and that's where TF starts to fail. I'm not sure that problem is with rosbag though... I once thought of implementing an alternative way to capture the robot part of TF by grabbing the urdf and joint states and let the robot_state_publisher do it's job on the go. Never really got around to do it... I can't really recall a case when it wasn't TF failing. Could you bring an example of something else failing with rosbag time? --- [Visit Topic](https://discourse.ros.org/t/timestamps-and-rosbags-discussing-an-alternative-to-clock-and-use-sim-time/3238/2) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: