Answer by tfoote for Hey all,I am looking for a function which interpolate between two poseStamped poses for a given time. I know there has to be something withing the tf/tf2 API but I could not find it. Something along the line of poseStamped = poseInterpolation (poseStamp_t1,poseStamp_t2, t) where t_1 < t < t_2Would be glad for some pointers. Cheers

I'd recommend looking at: https://github.com/ros/geometry2/blob/7ea64d25a0631fe91bd277e0d9195f18cc437151/tf2/src/cache.cpp#L176-L196 which uses the internal fork of the Bullet Linear Math library. I'd recommend you implement your own version using the pure bullet API.