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Hi, thanks for your response.

I have already checked the tf tree and verified that there aren't limiting factors: the highest latency link is published with a frequency of 110 Hz. I have also increased the buffer size, but I have the same problem.

Can I do something else to solve the problem? Thanks!

Hi, thanks for your response.

I have already checked the tf tree and verified that there aren't limiting factors: the highest latency link is published with a frequency of 110 Hz. I have also increased the buffer size, but I have the same problem.

Can I do something else to solve the problem? problem?

Hovewer, the information about the present state of the robot remains the same for 5/6 samples despite the commanded pose changes. Seems that the listener returns the latest available transform in the buffer, but the buffer is updated with a frequency of 20 Hz.

I modified the code in order to save past data, as following:

geometry_msgs::TransformStamped transformStamped;
try{
     ros::Time past = ros::Time::now() - ros::Duration(5.0);
    transformStamped = tfBuffer.lookupTransform("base", "tool0", past);
}
catch (tf2::TransformException &ex) {
    ROS_WARN("%s",ex.what());
    ros::Duration(1.0).sleep();
    continue;
}

Why I can't observe the 5/6 samples repetition in this case?

Thanks!