Minimum time between publishing a joint state and tf listener update

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Hi,

I have 8 laser range finders propped up on a rotating vertical rod connected to a motor. The laser range finders is fixed to the sides of the rod at some 'xyz rpy' pose. I get the current angular position of the rod and use this to publish the joint state of the rod (which is free to rotate along the z axis). So when the motor runs in real world i can see the vertical rod and the lidar attached to it rotate as well in rviz.

Now at each instant of rotation i want to use tf to get the instantaneous pose of the lidar so that i can calculate the 3D point observed by the lidar. I create a point cloud each rotation of the lidar. Here is the code snippet i used for getting the tf.

this->rod_joint_state.header.stamp=ros::Time::now();
this->rod_joint_state.header.frame_id=this->my_frame_id;
this->rod_joint_state.position[0]=_DEG2RAD(this->rod_angle);
this->pub_joint.publish(this->rod_joint_state);

/* 10 lines of code including conditions and initilizations here */
for(int i=0;i<8;i++){
    try{
    this->tf_listener.waitForTransform(this->frame_id,lidar_n,ros::Time::now(), ros::Duration(0.000125));
    this->tf_listener.lookupTransform(this->frame_id,lidar_n,ros::Time(0),transformStamped);
    }
   /* calculate the 3D point using the tf*/

}

I do not have any problems getting the transforms. I do not get "Cannot lookup transform" or any other warning from the try block.
However when i set the timeout for waitForTransform to 0 (or no wait) , the point Cloud looks very random. When i set it to a higher value like 0.01s the point cloud starts to look like the environment it is scanning.
Scan with Delay: output as expected ..
Scan without delay: wierd output.
So my question is , is there a minimum time between publishing and listening to a joint state ? In my code there is very very less time between the two.