Fix: Pointcloud topic's frame_id

SamerKhshiboun · Sep 6, 2023 · ee244ef · ee244ef
1 parent ce710eb
commit ee244ef
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/realsense2_camera/src/base_realsense_node.cpp b/realsense2_camera/src/base_realsense_node.cpp
@@ -814,7 +814,7 @@ void BaseRealSenseNode::SetBaseStream()
 
 void BaseRealSenseNode::publishPointCloud(rs2::points pc, const rclcpp::Time& t, const rs2::frameset& frameset)
 {
-    std::string frame_id = (_align_depth_filter->is_enabled() ? OPTICAL_FRAME_ID(COLOR) : OPTICAL_FRAME_ID(DEPTH));
+    std::string frame_id = OPTICAL_FRAME_ID(DEPTH);
     _pc_filter->Publish(pc, t, frameset, frame_id);
 }