So I have been following the really nice (R2D2) tutorials on URDF, thanks a lot for those!  I&#39;ve managed to get our robot model into RVIZ and follow base_link, but the transforms on the URDF besides base_link all seem to time lag, causing some jittery looking motion:<div>

<br></div><div><meta http-equiv="content-type" content="text/html; charset=utf-8"><a href="http://www.youtube.com/watch?v=GiQUc8FG6m8">http://www.youtube.com/watch?v=GiQUc8FG6m8</a></div><div><br></div><div>We originally noticed that the static TFs defaulted publishing from joint_state_publisher at 10Hz, so we set it to 100Hz.  This upped the maximum rate published to that of our base_link (~50Hz from our odom source), but this is what you see in the video.</div>

<div><br></div><div>The model does not jitter in RVIZ if the target and fixed frame are set to base_link, but does jitter when fixed frame is odom.</div><div><br></div><div>We are playing data from a recorded bag file using --clock and have set use_sim_time to true.</div>

<div><br></div><div>I&#39;ve attached a copy of the xacro file I use to generate our urdf in case I&#39;ve made a mistake in there.</div><div><br></div><div>Thanks,</div><div> - Chad</div>