Hi, if got the following code:
cloud_out->header.frame_id = "";
tf_listener_->lookupTransform( frame_out, frame_in, stamp, transform);
ROS_INFO("Frame before: %s", cloud_out->header.frame_id.c_str());
pcl_ros::transformPointCloud( *cloud_in, *cloud_out, transform );
ROS_INFO("Frame after : %s", cloud_out->header.frame_id.c_str());
The first output, gives out_frame, but after the transformation the frame is set to the frame of cloud_in
For me this looks like an error, is there a reason to change the frame_id like this?
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