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Restore time difference order so future extrapolation exceptions show positive seconds into future #522

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Feb 4, 2022
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Restore time difference order so future extrapolation exceptions show positive seconds into future #522

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4 changes: 3 additions & 1 deletion tf2/src/cache.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -76,7 +76,9 @@ void createExtrapolationException2(ros::Time t0, ros::Time t1, std::string* erro
{
if (error_str)
{
ros::Duration tdiff = t1 - t0;
// Want this to come out positive, because this is a future extrapolation problem with t0
// t0 needs to come first because it will be bigger than t1
ros::Duration tdiff = t0 - t1;
char str[163]; // Text without formatting strings has 102, each timestamp has up to 20
snprintf(
str, sizeof(str),
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