As explained in this ROS answer, the 10Hz at witch STDR publishes odom and sensors TFs causes important delays when processing sensor readings. So solution has two parts:
Broadcast sensor tfs as static (though this will probably require changes on PR #201 to republish the static tf if pose changes). This is already a good thing by itself, as it reduces simulation cost.
Allow speeding up odom tf (and odom topic) with a parameter odometry_rate
As explained in this ROS answer, the 10Hz at witch STDR publishes odom and sensors TFs causes important delays when processing sensor readings. So solution has two parts: