I have been trying to troubleshoot why the TF is not working on our platform. While reading through the code, I saw that the interpolate function in "geometry2/tf2/src/cache.cpp" seems to be outputting the wrong timestamp. The code is below:
void TimeCache::interpolate(const TransformStorage& one, const TransformStorage& two, TimePoint time, TransformStorage& output)
{
// Check for zero distance case
if( two.stamp_ == one.stamp_ )
{
output = two;
return;
}
//Calculate the ratio
tf2Scalar ratio = double((time - one.stamp_).count()) / double((two.stamp_ - one.stamp_).count());
//Interpolate translation
output.translation_.setInterpolate3(one.translation_, two.translation_, ratio);
//Interpolate rotation
output.rotation_ = slerp( one.rotation_, two.rotation_, ratio);
output.stamp_ = one.stamp_;
output.frame_id_ = one.frame_id_;
output.child_frame_id_ = one.child_frame_id_;
}
Shouldn't output.stamp_ be the time that is queried for? I seem to be receiving correct data overall, so I am thinking maybe this output for the timestamp is ignored higher up, but I was curious of why it is this way.
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