Default to Image frame_id if the Quad Frame is not set #4

lucasw · Sep 26, 2018 · 78f2b4d · 78f2b4d
1 parent bc2c992
commit 78f2b4d
Showing 1 changed file with 5 additions and 1 deletion.
diff --git a/src/mesh_display_custom.cpp b/src/mesh_display_custom.cpp
@@ -258,7 +258,11 @@ void MeshDisplayCustom::constructQuads(const sensor_msgs::Image::ConstPtr& image
     geometry_msgs::Pose mesh_origin;
 
     // TODO(lucasw) get pose from tf
-    const std::string frame = tf_frame_property_->getFrameStd();
+    std::string frame = tf_frame_property_->getFrameStd();
+    if (frame == "")
+    {
+      frame = image->header.frame_id;
+    }
     // Lookup transform into fixed frame
     Ogre::Vector3 position;
     Ogre::Quaternion orientation;