Lookup Transform not updating correctly

[stevencolinmartin]

We have been using this tool for some per-processing and I have had a few issues with the TF tree update not getting triggered.

The tree looks something like
world -> gps_frame -> base_link -> point_cloud

world -> gps_frame is 10hz and gps_frame ->base_link is 1hz.

When using lookup transform from (world -> pointcloud) the TF is only updated at 1Hz. By splitting it into (world -> gps_frame) and (gps_frame -> point_cloud) it updates at 10hz.

Have had a look at code and nothing stands out as issue but have also had some difficulty with a lookupTransformWhenTransformUpdates and setting triggers so have resorted to similar solution but now wondering if its the TF tree or some other issue.