From 0ab494b9237f09d6cf0b61ca9db0e02993d94b0e Mon Sep 17 00:00:00 2001
From: Michael Stypa <mstypa@uos.de>
Date: Thu, 1 Aug 2013 16:26:05 +0200
Subject: [PATCH] fixed setting frame_id
---
libuvc_camera/src/camera_driver.cpp | 10 +++++++++-
1 file changed, 9 insertions(+), 1 deletion(-)
diff --git a/libuvc_camera/src/camera_driver.cpp b/libuvc_camera/src/camera_driver.cpp
index af3b79b..10cdd51 100644
--- a/libuvc_camera/src/camera_driver.cpp
+++ b/libuvc_camera/src/camera_driver.cpp
@@ -35,6 +35,7 @@
#include <ros/ros.h>
#include <sensor_msgs/Image.h>
+#include <std_msgs/Header.h>
#include <image_transport/camera_publisher.h>
#include <dynamic_reconfigure/server.h>
#include <dynamic_reconfigure/SensorLevels.h>
@@ -166,9 +167,16 @@ void CameraDriver::ImageCallback(uvc_frame_t *frame) {
image->data.resize(image->step * image->height);
memcpy(&(image->data[0]), rgb_frame_->data, rgb_frame_->data_bytes);
- sensor_msgs::CameraInfo::ConstPtr cinfo(
+ sensor_msgs::CameraInfo::Ptr cinfo(
new sensor_msgs::CameraInfo(cinfo_manager_.getCameraInfo()));
+ std_msgs::Header::Ptr imageheader(new std_msgs::Header());
+ std_msgs::Header::Ptr cinfoheader(new std_msgs::Header());
+ imageheader->frame_id = config_.frame_id;
+ cinfoheader->frame_id = config_.frame_id;
+ image->header = *imageheader;
+ cinfo->header = *cinfoheader;
+
cam_pub_.publish(image, cinfo);
if (config_changed_) {
--
GitLab