TF Tree for Azure is not regulary updating

[ndaley7]

After initialization via the driver, the TF tree for the sensors on the kinect no longer updates. You can see the frame update times on the RQT screenshot that I have included.

To Reproduce Steps to reproduce the behavior:

1. Start ROS Driver
2. Attempt to subscribe to any of the TF topics in the below RQT screenshot after initialization

Expected behavior depth_camera_link, rgb_camera_link to be published at regular intervals

Logs I regularly get "image running behind" warnings, but I am not sure if that is releavant

Screenshots

Desktop (please complete the following information):

• OS: [Ubuntu]
• Version:20.04 LTS

Additional context Add any other context about the problem here.

[ndaley7]

Seems like it might be an issue with the rate parameter here on line 967:

ros::Rate loop_rate(params_.fps);

https://github.com/microsoft/Azure_Kinect_ROS_Driver/blob/88614463b924b122f681ec093b3a46c7b3a2bb52/src/k4a_ros_device.cpp

[ndaley7]

Rather than try and hunt down the parameters, im going to add the Azure transforms to the broadcast TF Script