Merge pull request #160 from Autumn60/hotfix/ros2_comp

Fix TFMsgSerializer for ROS 2 compatibility
Field-Robotics-Japan · May 22, 2024 · dc59e69 · dc59e69
2 parents c33247d + d6e2424
commit dc59e69
Showing 1 changed file with 1 addition and 2 deletions.
diff --git a/Assets/UnitySensorsROS/Runtime/Scripts/Serializers/TF/TFMsgSerializer.cs b/Assets/UnitySensorsROS/Runtime/Scripts/Serializers/TF/TFMsgSerializer.cs
@@ -34,8 +34,7 @@ public override TFMessageMsg Serialize()
             foreach(TFData data in tfData)
             {
                 TransformStampedMsg transform = new TransformStampedMsg();
-                transform.header.seq = headerMsg.seq;
-                transform.header.stamp = headerMsg.stamp;
+                transform.header = headerMsg;
                 transform.header.frame_id = data.frame_id_parent;
                 transform.child_frame_id = data.frame_id_child;
                 transform.transform.translation = data.position.To<FLU>();