[ROS2] TF2 broadcasting very slow

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Hi,

I have a node that broadcasts dynamic TF2 transforms (30 Hz ) and a robot_state_publisher that broadcasts the static TF2 from an URDF file.

The problem is that in Rviz I notice a very slow propagation of the Transforms and using the command ros2 run tf2_ros tf2_echo I indeed receive TF2 at about 1Hz that is a really low frequency.

For many links the TF propagation cannot be calculated at all.

What can be the problem?

Thank you Walter

UPDATE I noticed that the command works well for "static frames" but cannot connect "static frames" to "dynamic frames".

Considering the TF chain:

zed_left_camera_frame -> zed_camera_center -> base_link -> odom -> map

if I run the command $ ros2 run tf2_ros tf2_monitor zed_left_camera_frame map I get this broken chain:

ros2 run tf2_ros tf2_monitor zed_left_camera_frame map
Waiting for transform chain to become available between zed_left_camera_frame and map 



RESULTS: for zed_left_camera_frame to map
Chain is: zed_left_camera_frame -> zed_camera_center -> base_link
Net delay     avg = 0.00394501: max = 0.0212562

Frames:
Frame: base_link, published by <no authority available>, Average Delay: 0.0107858, Max Delay: 0.0123577

All Broadcasters:
Node: <no authority available> 61.1384 Hz, Average Delay: 0.0105982 Max Delay: 0.0123577

It seems that the remaining chain base_link -> odom -> map cannot be resolved and I cannot find the reason.

The weird thing is that $ ros2 run tf2_ros tf2_echo zed_left_camera_frame map 30 gives a correct result

How can I understand the cause of the problem?