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You can run a version of geometry2 that reduces the warning by cloning this repo and branch in your catkin_ws/src:

git clone --branch throttle-tf-repeated-data-error git@github.com:BadgerTechnologies/geometry2.git

Then rebuild, source setup.bash, run and then it should be reduced down to once every 10 seconds. If 10 seconds is too much then change the ros::Duration(10.0) to 10000 seconds or whatever you like.

https://github.com/ros/geometry2/pull/516/files

I haven't actually run that branch but it looks reasonable that it will work as claimed.

You can run a version of geometry2 that reduces the warning by cloning this repo and branch in your catkin_ws/src:

git clone --branch throttle-tf-repeated-data-error git@github.com:BadgerTechnologies/geometry2.git

Then rebuild, source setup.bash, run and then it should be reduced down to once every 10 seconds. If 10 seconds is still too much log output then change the ros::Duration(10.0) to 10000 seconds or whatever you like.

https://github.com/ros/geometry2/pull/516/files

I haven't actually run that branch but it looks reasonable that it will work as claimed.