Use frame-id of EgoData message in getFrameId for EgoData - #23
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lreiher
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Aug 26, 2026
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Pull request overview
This PR aligns tf2::getFrameId(const EgoData&) with tf2::getTimestamp(const EgoData&) by consistently using the top-level EgoData.header fields, and avoids failures when ego.state.header is unset during tf2 transform operations.
Changes:
- Update
getFrameId(const EgoData&)to returnego.header.frame_idinstead ofego.state.header.frame_id. - Removes dependency on
ego.state.headerbeing populated for frame resolution.
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getFrameIdandgetTimestampwere previously implemented inconsistently, as we used the timestamp of theEgoData.headerfield but theframe_idfrom thestate.headerfield.In addition, an unset
state.headerin a message causedtransformcalls to fail.