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The problem is not on the listener side but on the publisher side. The Listener is complaining that it's receiving duplicate transforms from potentially one or more publisher with the same timestamp for the same link. You'll want to look at who's publishing transforms on the /tf topic. Without more information I think that there's two possibilities. The first is that /robot_state_publisher itself is double publishing. It's driven by the incoming JointState messages which may be duplicated. Alternatively there could be another node publishing the transforms which are causing the conflict.