fixup

gazebosim · Jul 21, 2023 · 2f2b073 · 2f2b073
1 parent 3f6f01f
commit 2f2b073
Showing 1 changed file with 10 additions and 9 deletions.
diff --git a/src/DepthCameraSensor.cc b/src/DepthCameraSensor.cc
@@ -551,12 +551,10 @@ bool DepthCameraSensor::Update(
                rendering::PF_FLOAT32_R));
   msg.set_pixel_format_type(msgsFormat);
   *msg.mutable_header()->mutable_stamp() = msgs::Convert(_now);
-  if (!this->dataPtr->frame_id)
-  {
-    this->dataPtr->frame_id = msg.mutable_header()->add_data();
-    this->dataPtr->frame_id->set_key("frame_id");
-    this->dataPtr->frame_id->add_value(this->OpticalFrameId());
-  }
+
+  auto* frame = msg.mutable_header()->add_data();
+  frame->set_key("frame_id");
+  frame->add_value(this->OpticalFrameId());
 
   std::lock_guard<std::mutex> lock(this->dataPtr->mutex);
   msg.set_data(this->dataPtr->depthBuffer,
@@ -613,9 +611,12 @@ bool DepthCameraSensor::Update(
         this->dataPtr->xyzBuffer,
         this->dataPtr->image.Data<unsigned char>());
 
-    auto frame = this->dataPtr->pointMsg.mutable_header()->add_data();
-    frame->set_key("frame_id");
-    frame->add_value(this->OpticalFrameId());
+    if (!this->dataPtr->frame_id)
+    {
+      this->dataPtr->frame_id = this->dataPtr->pointMsg.mutable_header()->add_data();
+      this->dataPtr->frame_id->set_key("frame_id");
+      this->dataPtr->frame_id->add_value(this->OpticalFrameId());
+    }
 
     this->AddSequence(this->dataPtr->pointMsg.mutable_header(), "pointMsg");
     this->dataPtr->pointPub.Publish(this->dataPtr->pointMsg);