From 61406afa1e32b024992606626d29e57258590640 Mon Sep 17 00:00:00 2001
From: SamerKhshiboun <samer.khshiboun@intel.com>
Date: Tue, 13 Sep 2022 17:10:57 +0300
Subject: [PATCH] fix extrinsics calculation

---
 realsense2_camera/src/base_realsense_node.cpp | 2 +-
 realsense2_camera/src/t265_realsense_node.cpp | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/realsense2_camera/src/base_realsense_node.cpp b/realsense2_camera/src/base_realsense_node.cpp
index 81c318099d..a37c92629f 100755
--- a/realsense2_camera/src/base_realsense_node.cpp
+++ b/realsense2_camera/src/base_realsense_node.cpp
@@ -850,7 +850,7 @@ void BaseRealSenseNode::calcAndPublishStaticTransform(const rs2::stream_profile&
     rs2_extrinsics ex;
     try
     {
-        ex = profile.get_extrinsics_to(base_profile);
+        ex = base_profile.get_extrinsics_to(profile);
     }
     catch (std::exception& e)
     {
diff --git a/realsense2_camera/src/t265_realsense_node.cpp b/realsense2_camera/src/t265_realsense_node.cpp
index 20b198e1e0..523363282d 100644
--- a/realsense2_camera/src/t265_realsense_node.cpp
+++ b/realsense2_camera/src/t265_realsense_node.cpp
@@ -89,7 +89,7 @@ void T265RealsenseNode::calcAndPublishStaticTransform(const rs2::stream_profile&
     rs2_extrinsics ex;
     try
     {
-        ex = profile.get_extrinsics_to(base_profile);
+        ex = base_profile.get_extrinsics_to(profile);
     }
     catch (std::exception& e)
     {