Solved a bug with the frame_id of the output trajectory: it weas set to the...

Solved a bug with the frame_id of the output trajectory: it weas set to the opendrive frame instead of the desired output frame.

src/opendrive_planner.cpp

@@ -371,7 +371,7 @@ bool OpendriveGlobalPlanner::makePlan(const geometry_msgs::PoseStamped& start, c
       if(this->tf2_buffer.canTransform(target_frame, source_frame, time, timeout))
       {
         transform = this->tf2_buffer.lookupTransform(target_frame, source_frame, time);
-        point.header.frame_id=this->opendrive_frame_id_;
+        point.header.frame_id=this->frame_id_;
         point.header.stamp=time;
         for(unsigned int i=0;i<x.size();i++)
         {
@@ -382,7 +382,7 @@ bool OpendriveGlobalPlanner::makePlan(const geometry_msgs::PoseStamped& start, c
           orientation.setRPY(0.0,0.0,heading[i]);
           point.pose.orientation=tf2::toMsg(orientation);
           tf2::doTransform(point,plan[i],transform);
-          plan[i].header.frame_id=this->opendrive_frame_id_;
+          plan[i].header.frame_id=this->frame_id_;
           plan[i].header.stamp=time;
         }
       }else{