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In `BasicScanRegistration::reset(const Time&)`, both `_scanTime` (timestamp of the scan) and `_sweepStart` (timestamp of the sweep) are set to `scanTime`, which means that `toSec(_scanTime - _sweepTime)` is actually 0 in `setIMUTransformFor()`,...

I recently downloaded bag files from here (`schenley_bridge.bag` was not available though): https://web.archive.org/web/20161031231526/https://frc.ri.cmu.edu/~jizhang03/Datasets/