Update the frame_id when enable_sync_output_accel_gyro is set to true

Author: obdatean

orbbec_camera/include/orbbec_camera/ob_camera_node.h

@@ -375,7 +375,7 @@ class OBCameraNode {
   std::unique_ptr<ob::Pipeline> imuPipeline_ = nullptr;
   std::atomic_bool pipeline_started_{false};
   std::string camera_name_ = "camera";
-  const std::string imu_optical_frame_id_ = "camera_gyro_optical_frame";
+  std::string accel_gyro_frame_id_ = "camera_accel_gyro_optical_frame";
   const std::string imu_frame_id_ = "camera_gyro_frame";
   std::shared_ptr<ob::Config> pipeline_config_ = nullptr;
   std::map<stream_index_pair, std::shared_ptr<ob::Sensor>> sensors_;

orbbec_camera/src/ob_camera_node.cpp

@@ -1133,6 +1133,8 @@ void OBCameraNode::getParameters() {
     depth_aligned_frame_id_[stream_index] = optical_frame_id_[COLOR];
   }
 
+  accel_gyro_frame_id_ = camera_name_ + "_accel_gyro_optical_frame";
+
   setAndGetNodeParameter(enable_sync_output_accel_gyro_, "enable_sync_output_accel_gyro", false);
   for (const auto &stream_index : HID_STREAMS) {
     std::string param_name = stream_name_[stream_index] + "_qos";
@@ -2318,7 +2320,7 @@ void OBCameraNode::onNewIMUFrameSyncOutputCallback(const std::shared_ptr<ob::Fra
   accel_info.header = imu_msg.header;
   imu_info_publishers_[ACCEL]->publish(accel_info);
 
-  imu_msg.header.frame_id = imu_optical_frame_id_;
+  imu_msg.header.frame_id = accel_gyro_frame_id_;
 
   auto gyro_frame = gryoframe->as<ob::GyroFrame>();
   auto gyroData = gyro_frame->getValue();