Lookup transform from tf with some flexibility

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Hello all,

I'm running ROS melodic on Ubuntu 18.04. I need help relative to the tf package

I have two frames in my /tf that I update with transformations for a few minutes. After a while, I want to look up one of the past transformations that I added. However, I don't want the need to declare the exact nsec but something close to it.

For example, let us say I have entrees at nsec= [912339188], [923085185] and [932359819]. Then, I want to run the following:

tf::TransformListener::waitForTransform( target_frame, source_frame, time, transform);

with time.nsec == 923085200

As you can see that is not the exact nsec as the ones in /tf but is very close to the second entree. Is there a way to get it? (I would prefer to avoid using tf2 if possible but will do it if needed)

p.s.

Currently, when ever I run tf::TransformListener::canTransform(...), with the above input information, it returns false.