From ee244efdfa99a5a14db4349c86caf992b209ac58 Mon Sep 17 00:00:00 2001 From: Arun-Prasad-V Date: Thu, 7 Sep 2023 03:09:16 +0530 Subject: [PATCH] Fix: Pointcloud topic's frame_id --- realsense2_camera/src/base_realsense_node.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/realsense2_camera/src/base_realsense_node.cpp b/realsense2_camera/src/base_realsense_node.cpp index 35a88d1b14..38c5ab39f6 100755 --- 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); }