Fix imu frameid (#323)

* add missing frame_id to IMUComponent
rapyuta-robotics · Dec 2, 2024 · 0db5bc5 · 0db5bc5
1 parent 4beb390
commit 0db5bc5
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/Source/RapyutaSimulationPlugins/Private/Sensors/RRROS2IMUComponent.cpp b/Source/RapyutaSimulationPlugins/Private/Sensors/RRROS2IMUComponent.cpp
@@ -63,6 +63,7 @@ void URRROS2IMUComponent::SensorUpdate()
     if (dt > 1e-10)
     {
         const float _dt = 1.0 / dt;
+        Data.Header.FrameId = FrameId;
         Data.Header.Stamp = URRConversionUtils::FloatToROSStamp(currentTime);
 
         const FTransform dT = currentTransform * LastTransform.Inverse();