Hi all,

I have a problem with visualizing data in rviz in case there is frequency mismatch between LaserScans and the corresponding transfrom.

My LaserScans arrive with a high frequency (ca. 50 Hz) while the frame transform to the global frame needs to be computed first and have a lower frequency. The rviz shows the information that the transform from the LaserScan frame to global frame is missing. With a static transform I discovered that everything is working fine if the transform has higher frequency then my LaserScans. In case it has the same frequency the rviz output flickers from green to red and in case of a lower frequency it stays red with the "no transform" error output.

Is there any way to tell rviz to take an "older" transform?

Thanks a lot!