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Fix frames set to Name instead of FrameId for pointclouds #417

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merged 1 commit into from
Mar 14, 2024
Merged

Fix frames set to Name instead of FrameId for pointclouds #417

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2 changes: 1 addition & 1 deletion src/DepthCameraSensor.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -309,7 +309,7 @@ bool DepthCameraSensor::Load(const sdf::Sensor &_sdf)
// the xyz and rgb fields to be aligned to memory boundaries. This is need
// by ROS1: https://github.com/ros/common_msgs/pull/77. Ideally, memory
// alignment should be configured.
msgs::InitPointCloudPacked(this->dataPtr->pointMsg, this->Name(), true,
msgs::InitPointCloudPacked(this->dataPtr->pointMsg, this->FrameId(), true,
{{"xyz", msgs::PointCloudPacked::Field::FLOAT32},
{"rgb", msgs::PointCloudPacked::Field::FLOAT32}});

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2 changes: 1 addition & 1 deletion src/GpuLidarSensor.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -134,7 +134,7 @@ bool GpuLidarSensor::Load(const sdf::Sensor &_sdf)
// by ROS1: https://github.com/ros/common_msgs/pull/77. Ideally, memory
// alignment should be configured. This same problem is in the
// RgbdCameraSensor.
msgs::InitPointCloudPacked(this->dataPtr->pointMsg, this->Name(), true,
msgs::InitPointCloudPacked(this->dataPtr->pointMsg, this->FrameId(), true,
{{"xyz", msgs::PointCloudPacked::Field::FLOAT32},
{"intensity", msgs::PointCloudPacked::Field::FLOAT32},
{"ring", msgs::PointCloudPacked::Field::UINT16}});
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