Properly forward the original header when decompressing image messages.

fictionlab · Mar 25, 2024 · bacfd77 · bacfd77
1 parent 97d9fab
commit bacfd77
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/aruco_opencv/src/aruco_tracker.cpp b/aruco_opencv/src/aruco_tracker.cpp
@@ -431,7 +431,9 @@ class ArucoTracker : public rclcpp_lifecycle::LifecycleNode
   {
     // Decompress the image using bridge
     auto image = cv_bridge::toCvCopy(img_msg, "bgr8");
-    callback_image(image->toImageMsg());
+    auto new_msg = image->toImageMsg();
+    new_msg->header = img_msg->header;
+    callback_image(new_msg);
   }
 
   void callback_image(const sensor_msgs::msg::Image::ConstSharedPtr img_msg)