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One issue that would be pretty easy to check/modify is reducing the tf poll time for waitForTransform calls that you probably are using (explicitely or implicitely). By default, the poll time is 0.01s/10ms (see here. This means that tf only checks if a transform is available every 10ms. In some usage scenarios, this can have significant impact on the amount of data that can be processed in the thread where the waitForTransform is used.
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One issue that would be pretty easy to check/modify is reducing the tf poll time for waitForTransform calls that you probably are using (explicitely or implicitely). By default, the poll time is 0.01s/10ms (see here. ). This means that tf only checks if a transform is available every 10ms. In some usage scenarios, this can have significant impact on the amount of data that can be processed in the thread where the waitForTransform is used.
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