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.
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