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When you ask for time zero. It is translated to be requested as the latest common time that's available as a transform. This means that it is going to give you the most recent transform available at a common time that spans the tree between the frames requested. What you are seeing is that the results will only updated when the highest latency link is published. The system cannot include new information until there's a consistent timestamp across all links. So to improve this you need to check what your limiting factor is.

The best way to look at this is to check the tf tree using the tool view_frames as mentioned in this tutorial: http://wiki.ros.org/tf2/Tutorials/Debugging%20tf2%20problems

In that tool you'll want to find the link which is your limiting factor.