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salvage: prefix ROS camera frames with vehicle name (credit @alonfaraj #4509) #9821

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salvage: prefix ROS camera frames with vehicle name (credit @alonfaraj #4509) #9821

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4 changes: 2 additions & 2 deletions ros/src/airsim_ros_pkgs/src/airsim_ros_wrapper.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1421,13 +1421,13 @@ void AirsimROSWrapper::process_and_publish_img_response(const std::vector<ImageR
if (curr_img_response.pixels_as_float) {
image_pub_vec_[img_response_idx_internal].publish(get_depth_img_msg_from_response(curr_img_response,
curr_ros_time,
curr_img_response.camera_name + "_optical"));
vehicle_name + "/" + curr_img_response.camera_name + "_optical"));
}
// Scene / Segmentation / SurfaceNormals / Infrared
else {
image_pub_vec_[img_response_idx_internal].publish(get_img_msg_from_response(curr_img_response,
curr_ros_time,
curr_img_response.camera_name + "_optical"));
vehicle_name + "/" + curr_img_response.camera_name + "_optical"));
}
img_response_idx_internal++;
}
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5 changes: 2 additions & 3 deletions ros2/src/airsim_ros_pkgs/src/airsim_ros_wrapper.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1211,7 +1211,6 @@ void AirsimROSWrapper::append_static_camera_tf(VehicleROS* vehicle_ros, const st

geometry_msgs::msg::TransformStamped static_cam_tf_optical_msg = static_cam_tf_body_msg;
static_cam_tf_optical_msg.child_frame_id = vehicle_ros->vehicle_name_ + "/" + camera_name + "_optical/static";
static_cam_tf_optical_msg.child_frame_id = camera_name + "_optical/static";
static_cam_tf_optical_msg.transform = get_camera_optical_tf_from_body_tf(static_cam_tf_body_msg.transform);

vehicle_ros->static_tf_msg_vec_.emplace_back(static_cam_tf_body_msg);
Expand Down Expand Up @@ -1335,13 +1334,13 @@ void AirsimROSWrapper::process_and_publish_img_response(const std::vector<ImageR
if (curr_img_response.pixels_as_float) {
image_pub_vec_[img_response_idx_internal].publish(get_depth_img_msg_from_response(curr_img_response,
curr_ros_time,
curr_img_response.camera_name + "_optical"));
vehicle_name + "/" + curr_img_response.camera_name + "_optical"));
}
// Scene / Segmentation / SurfaceNormals / Infrared
else {
image_pub_vec_[img_response_idx_internal].publish(get_img_msg_from_response(curr_img_response,
curr_ros_time,
curr_img_response.camera_name + "_optical"));
vehicle_name + "/" + curr_img_response.camera_name + "_optical"));
}
img_response_idx_internal++;
}
Expand Down