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Hello Pete,

Thanks for your response, actually the problem was the same. There was multiple broadcasting of the TF. So I removed the TF broadcast from camera.

@lucas, I think its not a better idea to remove the redundant tf from my urdf, though I have not tried it. As camera info is having the field for frames, it corresponds to. So I think in URDF we should be having the corresponding frames. And we should stop tf broadcasting from camera. As there should be some binding between camera and my urdf.

If rather removing TF broadcast from camera, if I remove corresponding frames, then broadcasted tf will not having any information, where each frame is positioned in urdf.

Thats why, I removed tf broadcast from camera only. And that actually worked.

With best regards, Saurabh