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IIRC, those values are actually stamps in Unix time, so "time in seconds since Thursday, 1 January 1970".

The time 'between' two transforms (if that even makes sense) would be calculated by subtracting their respective timestamps.

IIRC, those values are actually stamps in Unix time, so "time in seconds since Thursday, 1 January 1970".". You can convert those timestamps pretty easily (this site can do it).

For instance, for map -> odom_combined, the last transform is dated 2015-05-01T18:29:40+00:00 (link).

The time 'between' two transforms (if that even makes sense) would be calculated by subtracting their respective timestamps.