lookupTransform at tf2::TimePointZero returns TransformStamped with wrong stamp
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Since Jan 19, 2023.
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Description
Bug report
Required Info:
- Operating System:
- Ubuntu 22.04
- Installation type:
- bin
- Version or commit hash:
- last available Humble binaries
- DDS implementation:
- Cyclone
- Client library (if applicable):
- rclcpp
Steps to reproduce issue
Use
lookupTransform(
const std::string & target_frame, const std::string & source_frame,
const TimePoint & time)
with time set to tf2::TimePointZero
Check the returned geometry_msgs::msg::TransformStamped header.stamp
Expected behavior
It should be set to the actual time of the last available transform between target_frame and source_frame.
Actual behavior
The returned geometry_msgs::msg::TransformStamped header.stamp is 0
Additional information
Maybe it is the actual intended behavior, but then how to know the time of the returned transform ?
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