[ros-users] [Discourse.ros.org] [Next Generation ROS] Interpolate function in cache.cpp seems to output wrong timestamp

Tully Foote ros.discourse at gmail.com
Tue Aug 22 22:26:14 UTC 2017

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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