From 0d84f7bdfaca62a4c6f37f572e0315632c38f15a Mon Sep 17 00:00:00 2001
From: yuokamoto <yuokamoto1988@gmail.com>
Date: Wed, 6 Nov 2024 16:44:52 +0900
Subject: [PATCH] Fix imu frameid (#323)

* add missing frame_id to IMUComponent
---
 .../Private/Sensors/RRROS2IMUComponent.cpp                       | 1 +
 1 file changed, 1 insertion(+)

diff --git a/Source/RapyutaSimulationPlugins/Private/Sensors/RRROS2IMUComponent.cpp b/Source/RapyutaSimulationPlugins/Private/Sensors/RRROS2IMUComponent.cpp
index 055184e0..f8f96546 100644
--- 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();