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TF get the time of last transform

asked 2023-03-08 04:02:54 -0500

labude gravatar image

Hello! I want to check if the tf2_ros::Buffer received a valid transform from A to B in the last x seconds (to throw an error in case of time out). So something like buffer.canTransform(A, B, ros::Time(0)) with an additional argument for how far in the past the transform can be.

Is there a way to get the timestamp of the last available transform so that I can compare it to the current time? This sounds like a pretty common use case to me, but I could not find anything suitable.

Thanks a lot!

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answered 2023-03-08 10:34:59 -0500

tfoote gravatar image

To achieve your query, you can do a lookupTransform and then check the resultant (latest) transform's timestamp is in your query window.

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That's a good idea, thanks.

labude gravatar image labude  ( 2023-03-11 05:53:19 -0500 )edit

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Asked: 2023-03-08 04:02:54 -0500

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Last updated: Mar 08