Yes, that looks like a bug. And it should set the output to the query time. It looks to be an issue [upstream](https://github.com/ros/geometry2/blob/indigo-devel/tf2/src/cache.cpp#L187). I suspect you're right it's generally masked due to small interpolation values from high frequency inputs and or higher level APIs ignoring that return value and assuming the query times. And the low level unit tests [don't assert](https://github.com/ros/geometry2/blob/indigo-devel/tf2/test/cache_unittest.cpp#L253) the timestamp with the output value. A bug or PR for that would be appreciated. --- [Visit Topic](https://discourse.ros.org/t/interpolate-function-in-cache-cpp-seems-to-output-wrong-timestamp/2489/2) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: