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I think your message is missing a header, which you should fill, normally using ros::Time::now()

I think your message is missing a header, which you should fill, normally using ros::Time::now() . Also, looking at your figure, what are we looking at (what the axes mean)? Assuming the X is the time, there is no discontinuity, so I'd assume the timestamps are fine. It looks like the messages just stuck with some constant value during some instants. Try doing a tf echo /your_msg, maybe it will help you find what is going on.