Merge PR IntelRealSense#2868 from Arun-Prasad-V: Fix Pointcloud topic…

… frame_id
SamerKhshiboun · Sep 9, 2023 · fd9a686 · fd9a686
2 parents d9e61a9 + ee244ef
commit fd9a686
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
@@ -818,7 +818,7 @@ 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);
 }