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Fix misleading extrapolation time in buffer_core (#832) (backport #896)#897

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ahcorde merged 1 commit intokiltedfrom
mergify/bp/kilted/pr-896
Mar 19, 2026
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Fix misleading extrapolation time in buffer_core (#832) (backport #896)#897
ahcorde merged 1 commit intokiltedfrom
mergify/bp/kilted/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: #897
Gist: https://gist.githubusercontent.com/ahcorde/b8e2fe08f4fa68cb64c7819fdc60e8b3/raw/94d8473172e83df089307ed769c42af6c20822c0/ros2.repos
BUILD args: --packages-above-and-dependencies tf2
TEST args: --packages-above tf2
ROS Distro: kilted
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/18546

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@ahcorde ahcorde merged commit 9732bd3 into kilted Mar 19, 2026
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@ahcorde ahcorde deleted the mergify/bp/kilted/pr-896 branch March 19, 2026 07:59
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2 participants