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Fix misleading extrapolation time in buffer_core (#832) (backport #896)#898

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ahcorde merged 1 commit intojazzyfrom
mergify/bp/jazzy/pr-896
Mar 18, 2026
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Fix misleading extrapolation time in buffer_core (#832) (backport #896)#898
ahcorde merged 1 commit intojazzyfrom
mergify/bp/jazzy/pr-896

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@mergify mergify bot commented Mar 18, 2026

Description

This PR fixes the issue where extrapolation errors incorrectly prioritize metadata gathered during the initial source-to-root traversal (Phase 1). By comparing timestamps from both traversal phases, the error now correctly reports the 'latest data' time for the specific link on the requested transform path.

Verification

Reproduced with the script in #832:

  • Before: Reported 10s staleness from unrelated 'map' frame.
  • After: Reports 0.1s staleness for the actual 'odom -> base_link' path.

Fixes #832


This is an automatic backport of pull request #896 done by Mergify.

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ahcorde commented Mar 18, 2026

Pulls: #898
Gist: https://gist.githubusercontent.com/ahcorde/dfcad3ac3dce296bf56f01e4a5d9e828/raw/6f499c6077c3e89f43ef3ee49b7799515d338747/ros2.repos
BUILD args: --packages-above-and-dependencies tf2
TEST args: --packages-above tf2
ROS Distro: jazzy
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/18547

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@ahcorde ahcorde merged commit 923656d into jazzy Mar 18, 2026
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@ahcorde ahcorde deleted the mergify/bp/jazzy/pr-896 branch March 18, 2026 20:45
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2 participants