patch realsense2_camera \n\n IntelRealSense/realsense-ros#2868

0wu · Oct 7, 2023 · 30e64e5 · 30e64e5
1 parent 4f331d1
commit 30e64e5
Showing 1 changed file with 12 additions and 0 deletions.
diff --git a/patch/ros-humble-realsense2-camera.patch b/patch/ros-humble-realsense2-camera.patch
@@ -0,0 +1,12 @@
+diff --git a/src/base_realsense_node.cpp b/src/base_realsense_node.cpp
+index 5e4e6e7..59cf468 100755
+--- a/src/base_realsense_node.cpp
++++ b/src/base_realsense_node.cpp
+@@ -784,7 +784,7 @@ 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);
+ }