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Has there been progress for URDF transform jitter in RVIZ?

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From my [ros-users post](https://code.ros.org/lurker/message/20101217.042334.a4610002.gl.html): *So I have been following the really nice (R2D2) tutorials on URDF, thanks a lot for those! I've managed to get our robot model into RVIZ and follow base_link, but the transforms on the URDF besides base_link all seem to time lag, causing some jittery looking motion:* *[http://www.youtube.com/watch?v=GiQUc8FG6m8](http://www.youtube.com/watch?v=GiQUc8FG6m8)* *We originally noticed that the static TFs defaulted publishing from joint_state_publisher at 10Hz, so we set it to 100Hz. This upped the maximum rate published to that of our base_link (~50Hz from our odom source), but this is what you see in the video.* *The model does not jitter in RVIZ if the target and fixed frame are set to base_link, but does jitter when fixed frame is odom. We are playing data from a recorded bag file using --clock and have set use_sim_time to true. I've attached a copy of the xacro file I use to generate our urdf in case I've made a mistake in there.* *Thanks,* *- Chad* It would be nice to have the links update and move [synchronously for the robot model](https://code.ros.org/lurker/message/20101217.183439.eef0c0fd.gl.html). Is this something that should have a ticket made? Are there other solutions than editing the [timestamps in the bagfile](https://code.ros.org/lurker/message/20101217.090809.0e2f24f8.gl.html)?

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