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TF_OLD_DATA has nothing to do with your callback. It means that you're receiving old data on the /tf topic that's getting dropped.

Please see: http://wiki.ros.org/tf/Errors%20explained

TF_OLD_DATA has nothing to do with your callback. It means that you're receiving old data on the /tf topic that's getting dropped.

Please see: http://wiki.ros.org/tf/Errors%20explained

Updates:

Ok, your structure is a little unusual. You'll need to make sure to validate that your timestamps are always valid then. You might be mixing sim time and real time to have this issue. Also you should check if something else is sending conflicting things for the same

Also you should make sure that your TransformBroadcaster is not dynamically created in each callback. That's a recipie for failure as the connections have to be established after the constructor in the background and it's a race condition whether they are complete before you call sendTransform if you take a look at the tutorials we always recommend creating the publishers outside of your callback, usually as a member so that they can persist and don't need to be reinitialized.