TF - Transform world frame update rate should be fastest

edit

Hey there,

I am basically doing a transformation from camera_link to world frame

Here is the message before the transformation in [camera_link] frame:

header: 
  seq: 0
  stamp: 4.723000000
  frame_id: camera_link
uid: 0
position: 
  x: 1.10738
  y: -0.16057
  z: 0.241941
velocity: 
  x: -0.00120042
  y: 0.0169336
  z: 0.240961
diameter: 0.064
diameter_px: 26.401
covariance[]
  covariance[0]: 0.000693303
  covariance[1]: 0.000586575
  covariance[2]: 0.00238198
  covariance[3]: 0
  covariance[4]: 0
  covariance[5]: -0
confidence: 1

And this is the message after it was transformed: [in world]

header: 
  seq: 0
  stamp: 4.723000000
  frame_id: world
uid: 0
position: 
  x: 0.322941
  y: -0.21167
  z: 1.0397
velocity: 
  x: 0.321961
  y: -0.0341664
  z: 2.14828
diameter: 0.064
diameter_px: 26.401
covariance[]
  covariance[0]: 0.000693303
  covariance[1]: 0.000586575
  covariance[2]: 0.00238198
  covariance[3]: -4.13646e-13
  covariance[4]: 1.5708
  covariance[5]: 0
confidence: 1

Now actually the high velocities in the world frame could not be correct ....

I have only doubts on how this errors occur:

1) It is because of the different update rate: rosrun tf view_frames

-> the world frame update rate should always be the fastest????

2) I did not set a seq in the header???

3) rosrun tf tf_monitor camera_link world

RESULTS: for camera_link to world Chain is: camera_link -> camera_mount_link -> camera_footprint -> world Net delay avg = -0.0952712: max = 0