Visual robot model dismembered

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Hmm quite strange, I'm just running this locally, using robot_state_publisher and joint_state_publisher. I expect those to have their usage of time stamps correct. What I find most weird is that you define links relative to other links, how can child links then move independently?

To add to my comment, I'd expect that if I only update the base_link for instance, the other links are automatically updated as well, since they have indirectly changed as well. This apparently does not happen in ros?

I just tried with the tutorial urdf file, changing the joint to a continuous joint and running joint_state_publisher, same thing happens. In addition, the same thing also happens to the tf axes, so it is not just the visual model.

You can think of the robot model as using tf but additionally drawing the robot geometry, so if something is wrong with transforms, it will always affect both. Your system is probably not maxed out CPU wise when you do your tests?