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The 1Hz for tf2_echo is to be expended (that's the frequency at which it looks up transforms). What's the frequency of your robot_state_publisher?

For rviz, at least in past versions of ROS 2, I have gotten better reception of messages using Connext or Opensplice as a ROS Middleware instead of the default FastRTPS (because of its default communication settings), though this may not be necessary anymore on the latest development branches of ROS 2. You could try changing the middleware and check if that makes a difference, see https://github.com/ros2/ros2/wiki/Working-with-multiple-RMW-implementations