Fix header

src/kinect_ros2_component.cpp

@@ -134,35 +134,28 @@ void KinectRosComponent::rgb_cb(freenect_device * dev, void * rgb_ptr, uint32_t
   _rgb_flag = true;
 }
 
+
 void KinectRosComponent::timer_callback()
 {
   freenect_process_events(fn_ctx_);
-  auto header = std_msgs::msg::Header();
-  header.frame_id = "kinect_depth";
 
+
   auto stamp = now();
-  header.stamp = stamp;
-  depth_info_.header.stamp = stamp;
-
+  std_msgs::msg::Header rgb_header, depth_header;
+  rgb_header.frame_id = "kinect_rgb"; rgb_header.stamp = stamp;
+  depth_header.frame_id = "kinect_depth"; depth_header.stamp = stamp;
+  rgb_info_.header = rgb_header;
+  depth_info_.header = depth_header;
+
   if (_depth_flag) {
-    //convert 16bit to 8bit mono
-    // cv::Mat depth_8UC1(_depth_image, CV_16UC1);
-    // depth_8UC1.convertTo(depth_8UC1, CV_8UC1);
-
-    auto msg = cv_bridge::CvImage(header, "16UC1", _depth_image).toImageMsg();
+    auto msg = cv_bridge::CvImage(depth_header, "16UC1", _depth_image).toImageMsg();
     depth_pub_.publish(*msg, depth_info_);
-
-    // cv::imshow("Depth", _depth_image);
-    // cv::waitKey(1);
     _depth_flag = false;
   }
 
   if (_rgb_flag) {
-    auto msg = cv_bridge::CvImage(std_msgs::msg::Header(), "rgb8", _rgb_image).toImageMsg();
+    auto msg = cv_bridge::CvImage(rgb_header, "rgb8", _rgb_image).toImageMsg();
     rgb_pub_.publish(*msg, rgb_info_);
-
-    // cv::imshow("RGB", _rgb_image);
-    // cv::waitKey(1);
     _rgb_flag = false;
   }
 }

src/kinect_ros2_node.cpp

@@ -62,4 +62,4 @@ int main(int argc, char * argv[])
   rclcpp::shutdown();
 
   return 0;
-}
+}