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I know this question is some month old, but I have a similar problem. I have also created an urdf model with a continuous joint and I want to rotate a link. Its working with an tf::TransformBroadcaster but like micpalmia said its flickering between its original pose and the pose set by the tf::TransformBroadcaster.

So has anybody any solution for this. It seems thats its just a little mistake we make, but I don't get it.

Best regards, zumili