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Did you record /tf in the bag? The fact the timestamps are inconsistent could indicate some node is broadcasting a new /tf at the moment of playing. Might wanna kill nodes broadcasting /tf and then play the bag file (which should have of course recorded /tf besides your data).

Did you record /tf in the bag? This is needed. The fact the timestamps are inconsistent could indicate some node is broadcasting a new /tf at the moment of playing. Might wanna kill nodes broadcasting /tf and then play the bag file (which should have of course recorded /tf besides your data).