diff --git a/stdr_robot/CMakeLists.txt b/stdr_robot/CMakeLists.txt
index 69dd899a..de374328 100644
--- a/stdr_robot/CMakeLists.txt
+++ b/stdr_robot/CMakeLists.txt
@@ -6,6 +6,7 @@ find_package(catkin REQUIRED COMPONENTS
   nodelet
   actionlib
   tf
+  tf2_ros
   stdr_msgs
   stdr_parser
   geometry_msgs
@@ -30,6 +31,7 @@ catkin_package(
     nodelet
     actionlib
     tf
+    tf2_ros
     stdr_msgs
     stdr_parser
     geometry_msgs
diff --git a/stdr_robot/include/stdr_robot/stdr_robot.h b/stdr_robot/include/stdr_robot/stdr_robot.h
index 430ce0f6..ddf68013 100644
--- a/stdr_robot/include/stdr_robot/stdr_robot.h
+++ b/stdr_robot/include/stdr_robot/stdr_robot.h
@@ -25,6 +25,7 @@
 #include <ros/ros.h>
 #include <nodelet/nodelet.h>
 #include <tf/transform_broadcaster.h>
+#include <tf2_ros/static_transform_broadcaster.h>
 #include <stdr_msgs/RobotMsg.h>
 #include <stdr_msgs/MoveRobot.h>
 #include <stdr_robot/sensors/sensor_base.h>
@@ -153,6 +154,8 @@ namespace stdr_robot {
     //!< ROS tf transform broadcaster
     tf::TransformBroadcaster _tfBroadcaster;
 
+    tf2_ros::StaticTransformBroadcaster _tfStaticBroadcaster;
+
     //!< Odometry Publisher
     ros::Publisher _odomPublisher;
     
diff --git a/stdr_robot/package.xml b/stdr_robot/package.xml
index 1cfa5cb3..6919001e 100644
--- a/stdr_robot/package.xml
+++ b/stdr_robot/package.xml
@@ -18,6 +18,7 @@
 
   <depend>roscpp</depend>
   <depend>tf</depend>
+  <depend>tf2_ros</depend>
   <depend>sensor_msgs</depend>
   <depend>stdr_msgs</depend>
   <depend>stdr_parser</depend>
diff --git a/stdr_robot/src/stdr_robot.cpp b/stdr_robot/src/stdr_robot.cpp
index b1a7aca7..acf1d903 100644
--- a/stdr_robot/src/stdr_robot.cpp
+++ b/stdr_robot/src/stdr_robot.cpp
@@ -42,7 +42,7 @@ namespace stdr_robot
   **/
   void Robot::onInit()
   {
-    float frequency = 10;
+    float frequency = 100;
     float freq_time = 1. / frequency;
 
     ros::NodeHandle n = getMTNodeHandle();
@@ -187,6 +187,26 @@ namespace stdr_robot
       _motionControllerPtr.reset(
         new IdealMotionController(_currentPose, _tfBroadcaster, n, getName(), p));
     }
+
+    for (int i = 0; i < _sensors.size(); i++) {
+      geometry_msgs::Pose2D sensorPose = _sensors[i]->getSensorPose();
+
+      geometry_msgs::TransformStamped transformStamped;
+
+      transformStamped.header.stamp = ros::Time::now();
+      transformStamped.header.frame_id = getName();
+      transformStamped.child_frame_id = _sensors[i]->getFrameId();
+      transformStamped.transform.translation.x = sensorPose.x;
+      transformStamped.transform.translation.y = sensorPose.y;
+      transformStamped.transform.translation.z = 0.0;
+      tf2::Quaternion quat;
+      quat.setRPY(0.0, 0.0, sensorPose.theta);
+      transformStamped.transform.rotation.x = quat.x();
+      transformStamped.transform.rotation.y = quat.y();
+      transformStamped.transform.rotation.z = quat.z();
+      transformStamped.transform.rotation.w = quat.w();
+      _tfStaticBroadcaster.sendTransform(transformStamped);
+    }
     
     _tfTimer.start();
   }
@@ -446,6 +466,8 @@ namespace stdr_robot
     {
       _motionControllerPtr->setPose(_previousPose);
     }
+
+    ros::Time timeNow = ros::Time::now();
     
     //!< Robot tf
     tf::Vector3 translation(_previousPose.x, _previousPose.y, 0);
@@ -455,11 +477,11 @@ namespace stdr_robot
     tf::Transform mapToRobot(rotation, translation);
 
     _tfBroadcaster.sendTransform(tf::StampedTransform(
-      mapToRobot, ros::Time::now(), "map_static", getName()));
+      mapToRobot, timeNow, "map_static", getName()));
 
     //!< Odometry
     nav_msgs::Odometry odom;
-    odom.header.stamp = ros::Time::now();
+    odom.header.stamp = timeNow;
     odom.header.frame_id = "map_static";
     odom.child_frame_id = getName();
     odom.pose.pose.position.x = _previousPose.x;
@@ -470,23 +492,23 @@ namespace stdr_robot
 
     _odomPublisher.publish(odom);
 
-    //!< Sensors tf
-    for (int i = 0; i < _sensors.size(); i++) {
-      geometry_msgs::Pose2D sensorPose = _sensors[i]->getSensorPose();
+    // //!< Sensors tf
+    // for (int i = 0; i < _sensors.size(); i++) {
+    //   geometry_msgs::Pose2D sensorPose = _sensors[i]->getSensorPose();
 
-      tf::Vector3 trans(sensorPose.x, sensorPose.y, 0);
-      tf::Quaternion rot;
-      rot.setRPY(0, 0, sensorPose.theta);
+    //   tf::Vector3 trans(sensorPose.x, sensorPose.y, 0);
+    //   tf::Quaternion rot;
+    //   rot.setRPY(0, 0, sensorPose.theta);
 
-      tf::Transform robotToSensor(rot, trans);
+    //   tf::Transform robotToSensor(rot, trans);
 
-      _tfBroadcaster.sendTransform(
-        tf::StampedTransform(
-          robotToSensor,
-          ros::Time::now(),
-          getName(),
-          _sensors[i]->getFrameId()));
-    }
+    //   _tfBroadcaster.sendTransform(
+    //     tf::StampedTransform(
+    //       robotToSensor,
+    //       ros::Time::now(),
+    //       getName(),
+    //       _sensors[i]->getFrameId()));
+    // }
 
     ROS_DEBUG_STREAM("Timing for publishing tf and odom: " << (ros::WallTime::now() - start_time).toSec() * 1000 << " ms");
   }