slow updates of links of a robot in RViz [RobotModel]

Hello, I have written a description package for iCub humanoid robot. It basically consist of a urdf model of the robot to visualize in RViz and also a ros-yarp bridge which publishes the joint positions of all joints on the robot. (for now bridge takes the data from robot simulator.) The `/joint_states` topic is published at 50 Hz from the bridge and I am running launch file with `/robot_state_publisher` as it follows: But in this situation, the RobotModel in RViz follows the simulator with almost 1 second delay even robots move only one joint. I have looked every topic (joint_states, tf etc..) and they are all fine publishing the data at desired rate. Do you have any idea why RobotModel lags ? The package can be found on [here](https://github.com/tkelestemur/icub_description). Edit: According to the tf frame tree most of the tf data is published at 1.250Hz which is very slow. Only base_link is published at 50Hz. So the problem is somehow related to `/robot_state_publisher`