interpolated_rate()

SELECT
    id,
    bucket,
    interpolated_rate(
        summary,
        bucket,
        '15 min',
        LAG(summary) OVER (PARTITION BY id ORDER by bucket),
        LEAD(summary) OVER (PARTITION BY id ORDER by bucket)
    )
    SELECT
        id,
        time_bucket('15 min'::interval, ts) AS bucket,
        counter_agg(ts, val) AS summary
    FROM foo
    GROUP BY id, time_bucket('15 min'::interval, ts)
) t