fix

Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com>
tier4 · Apr 17, 2023 · 1463b7d · 1463b7d
1 parent 82262b9
commit 1463b7d
Showing 1 changed file with 1 addition and 3 deletions.
diff --git a/sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp
@@ -168,9 +168,7 @@ void RingOutlierFilterComponent::faster_filter(
 
   output.data.resize(output_size);
 
-  // Note that `input->header.frame_id` is data before converted when `transform_info.need_transform
-  // == true`
-  output.header.frame_id = !tf_input_frame_.empty() ? tf_input_frame_ : tf_input_orig_frame_;
+  output.header.frame_id = tf_input_frame_;
 
   output.fields.resize(4);  // x, y, z, intensity
   std::copy(input->fields.begin(), input->fields.begin() + 4, output.fields.begin());