tf2::StaticCache::getData() Returns true Even When Cache is Empty or Timestamp Mismatches

[zhihaoshang]

Bug Report

Environment

OS Version: Ubuntu 24.04 geometry2 version: ros2 jazzy Compiler name and version number: Ubuntu clang version 18.1.3 Source or binary build? source build build options: --mixin asan-gcc

Description

In tf2::StaticCache, the behavior of the getData() method does not match expectations. When the cache is empty or the queried timestamp does not match the stored timestamp, getData() still returns true instead of false. This may cause the caller to retrieve incorrect transformation data, potentially affecting coordinate transformations.

Steps to reproduce

#include <gtest/gtest.h>
#include <chrono>
#include <cmath>
#include <stdexcept>
#include <tf2/time_cache.hpp>

void resetStorage(tf2::TransformStorage & stor)
{
  stor.translation_.setValue(1.0, -1.0, 0.5);
  stor.rotation_.setValue(0.707, 0.0, 0.707, 0.0);
}

TEST(StaticCache, EmptyCacheRetrieval)
{
  tf2::StaticCache cache;
  tf2::TransformStorage stor;
  resetStorage(stor);
  EXPECT_FALSE(cache.getData(tf2::TimePoint(std::chrono::nanoseconds(99999)), stor));
}

TEST(StaticCache, ErrorHandlingForInvalidTimestamps)
{
  tf2::StaticCache cache;
  tf2::TransformStorage stor;
  resetStorage(stor);
  stor.frame_id_ = tf2::CompactFrameID(10);
  stor.stamp_ = tf2::TimePoint(std::chrono::nanoseconds(10));
  
  cache.insertData(stor);
  tf2::TransformStorage result;
  EXPECT_FALSE(cache.getData(tf2::TimePoint(std::chrono::nanoseconds(9999)), result));
}

int main(int argc, char ** argv)
{
  testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}

Output

[==========] Running 2 tests from 1 test suite.
[----------] Global test environment set-up.
[----------] 2 tests from StaticCache
[ RUN      ] StaticCache.EmptyCacheRetrieval
/home/shangzh/geometry2_ws/geometry2/tf2/test/static_cache_test.cpp:18: Failure
Value of: cache.getData(tf2::TimePoint(std::chrono::nanoseconds(99999)), stor)
  Actual: true
Expected: false

[  FAILED  ] StaticCache.EmptyCacheRetrieval (0 ms)
[ RUN      ] StaticCache.ErrorHandlingForInvalidTimestamps
/home/shangzh/geometry2_ws/geometry2/tf2/test/static_cache_test.cpp:31: Failure
Value of: cache.getData(tf2::TimePoint(std::chrono::nanoseconds(9999)), result)
  Actual: true
Expected: false

[  FAILED  ] StaticCache.ErrorHandlingForInvalidTimestamps (0 ms)
[----------] 2 tests from StaticCache (0 ms total)

[----------] Global test environment tear-down
[==========] 2 tests from 1 test suite ran. (0 ms total)
[  PASSED  ] 0 tests.
[  FAILED  ] 2 tests, listed below:
[  FAILED  ] StaticCache.EmptyCacheRetrieval
[  FAILED  ] StaticCache.ErrorHandlingForInvalidTimestamps

 2 FAILED TESTS