diff --git a/stdr_robot/CMakeLists.txt b/stdr_robot/CMakeLists.txt
index 62113bf3..c0a59fda 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 e31e9858..546a15f4 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>
@@ -150,6 +151,9 @@ namespace stdr_robot {
     //!< ROS tf transform broadcaster
     tf::TransformBroadcaster _tfBroadcaster;
 
+    //!< ROS tf2 static transform broadcaster
+    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 a3128eed..a3ed0968 100644
--- a/stdr_robot/src/stdr_robot.cpp
+++ b/stdr_robot/src/stdr_robot.cpp
@@ -60,9 +60,9 @@ namespace stdr_robot
     _moveRobotService = n.advertiseService(
       getName() + "/replace", &Robot::moveRobotCallback, this);
 
-    //we should not start the timer, until we hame a motion controller
+    //we should not start the timer, until we have a motion controller
     _tfTimer = n.createTimer(
-      ros::Duration(0.1), &Robot::publishTransforms, this, false, false);
+      ros::Duration(0.01), &Robot::publishTransforms, this, false, false);
   }
 
   /**
@@ -172,6 +172,27 @@ namespace stdr_robot
         new IdealMotionController(_currentPose, _tfBroadcaster, n, getName(), p));
     }
 
+    //!< Sensors static tfs
+    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();
   }
 
@@ -407,7 +428,7 @@ namespace stdr_robot
   }
 
   /**
-  @brief Publishes the tf transforms every with 10Hz
+  @brief Publishes the tf transforms every with 100Hz
   @return void
   **/
   void Robot::publishTransforms(const ros::TimerEvent&)
@@ -422,6 +443,7 @@ namespace stdr_robot
       _motionControllerPtr->setPose(_previousPose);
     }
     //!< Robot tf
+    ros::Time timeNow = ros::Time::now();
     tf::Vector3 translation(_previousPose.x, _previousPose.y, 0);
     tf::Quaternion rotation;
     rotation.setRPY(0, 0, _previousPose.theta);
@@ -429,11 +451,11 @@ 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;
@@ -442,25 +464,7 @@ namespace stdr_robot
         _previousPose.theta);
     odom.twist.twist = _motionControllerPtr->getVelocity();
 
-    _odomPublisher.publish(odom);
-
-    //!< 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::Transform robotToSensor(rot, trans);
-
-      _tfBroadcaster.sendTransform(
-        tf::StampedTransform(
-          robotToSensor,
-          ros::Time::now(),
-          getName(),
-          _sensors[i]->getFrameId()));
-    }
+   _odomPublisher.publish(odom);
   }
 
   /**