Time system when using tf2 lookupTransform
Given I have a topic /tf
in rosbag, I want to run the rosbag and use lookupTransform
to get transform between different frames. The most usual way to get latest transform is lookupTransform("target_frame", "source_frame", rospy.Time(0))
. What time system does the function lookupTransform
use, does this function use the wall clock time of the computer calling the function lookupTransform
, or does it use the timestamp in rosbag. Also, is there any difference when using lookupTransform("target_frame", "source_frame", rospy.Time(0))
and lookupTransform("target_frame", "source_frame", rospy.Time())