RGBDSLAM - Slow transform pub‏lishing

Hi there, I have the RGBD SLAM v2 package (http://felixendres.github.io/rgbdslam_v2/) running on a Core i7 computer with a Nvidia GTX 780 graphics card. The computer runs Ubuntu 12.04.5 and ROS Hydro. I want to use the package for robot localization, but it seems like I'm getting a too low pub rate of the transform. In my launch file I have: which are transforms that I need to exist for sending the pose estimation for the robot. I also have: where 'vision' is considered the base of the robot. 'till now everything is ok. The problem comes when I run the package and start processing. Using the tf view_frames, I can check the following on the tf tree: Broadcaster: /rgbdslam Average rate: 10000.000 Hz Most recent transform: 1409946186.276 Buffer length: 0.000 sec which for sure is not right, given that as said in http://answers.ros.org/question/54240/using-robot_pose_ekf-and-rgbdslam-for-path-planning-with-octomaps/?answer=54312#post-id-54312 the tf transform is being sent at a 10Hz rate supposedly, which I know it can be less, but less can't be what is in the following: (Issuing 'rosrun tf tf_monitor') Node: /rgbdslam 0.202653 Hz, Average Delay: 1.97535 Max Delay: 11.3705 Which is extremely slow! Does someone has a tip for what is happening or why is it so slow? Thanks in advance!