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

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selimrecep wants to merge 1 commit intoros2:rollingfrom
selimrecep:832-cantransform-misleading-extrapolation-error
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Fix misleading extrapolation time in buffer_core (#832)#896
selimrecep wants to merge 1 commit intoros2:rollingfrom
selimrecep:832-cantransform-misleading-extrapolation-error

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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

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selimrecep commented Feb 23, 2026

IMHO TF2 error detection logic should be more path-aware in general, but I just wanted to focus on this specific bug for now.

@ahcorde ahcorde requested a review from tfoote February 23, 2026 19:25
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canTransform reports misleading extrapolation time when multiple parent frames require extrapolation

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