I have currently looked at imputeTS and zoo packages but it does not see to work Current data is..
group/timeseries(character)
1 2017-05-17 04:00:00
1 2017-05-17 04:01:00
1 NA
1 NA
1 2017-05-17 05:00:00
1 2017-05-17 06:00:00
2 NA
2 2017-05-17 04:31:00
2 NA
2 NA
2 NA
2 2017-05-17 05:31:00
I would like to fill in NA with the interpolation time series so that the time is the mid point of the row before and after. Also, i have to point out that each time series belongs to a group. Meaning the time resets for each group.
I will provide a picture of the actual data to be more clear

Thanks for the help in advance!
na.approxin the zoo package can do this and the grouping can be handled without loops using eithertapplyin base or as a group operation in data.table.For your data set
Write function to coerce vector to zoo object, interpolate NAs, extract result
Example using tapply in base R to apply foo to each group
Example using group by in data.table to apply foo to each group