You said you got tf working to some level of functionality. We have been running into issues when querying for transforms with lookupTransform. We query for a transform at a given time, and we always get a transform back that does not match the time stamp that was asked for. It is anywhere from a few milliseconds behind to 4 seconds ahead of the timestamp that was asked for. The error actually cycles through from being a bit behind to far in the future. Did you run into this when you were getting tf to work? I would give more detail (code, etc.) but did not think this thread was the right place. We can continue this discussion elsewhere if you have any thoughts that could help.
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