fix transform lookup errors

Author: blooop

rerun_bridge/src/rerun_bridge/rerun_ros_interface.cpp

@@ -408,6 +408,14 @@ void log_joint_state(
     const rerun::RecordingStream& rec, const std::string& entity_path,
     const sensor_msgs::msg::JointState::ConstSharedPtr& msg
 ) {
+    // Set timestamp if available, otherwise skip timestamp logging to use current time
+    if (msg->header.stamp.sec != 0 || msg->header.stamp.nanosec != 0) {
+        rec.set_time_timestamp_secs_since_epoch(
+            "timestamp",
+            rclcpp::Time(msg->header.stamp.sec, msg->header.stamp.nanosec).seconds()
+        );
+    }
+    
     // Log joint angles as time series scalars using the new Rerun 0.24.0 API
     // This follows the pattern from the Rust and Python examples
     for (size_t i = 0; i < msg->name.size() && i < msg->position.size(); ++i) {

rerun_bridge/src/rerun_bridge/visualizer_node.cpp

@@ -593,7 +593,7 @@ std::shared_ptr<rclcpp::Subscription<sensor_msgs::msg::JointState>>
         const std::string& topic, const TopicOptions& topic_options
     ) {
     std::string entity_path = _resolve_entity_path(topic, topic_options);
-    bool lookup_transform = (topic_options.find("entity_path") == topic_options.end());
+    bool lookup_transform = false; // Joint states don't need coordinate transformations
     bool restamp = false;
     if (topic_options.find("restamp") != topic_options.end()) {
         restamp = topic_options.at("restamp").as<bool>();