rosbag2rawlog: BUGFIX: sensor poses were inverted

mrpt_rawlog/src/rosbag2rawlog.cpp

@@ -202,8 +202,8 @@ class RosSynchronizer
 std::shared_ptr<tf2::BufferCore> tfBuffer;
 
 bool findOutSensorPose(
-	mrpt::poses::CPose3D& des, const std::string& target_frame,
-	const std::string& source_frame,
+	mrpt::poses::CPose3D& des, const std::string& frame,
+	const std::string& referenceFrame,
 	const std::optional<mrpt::poses::CPose3D>& fixedSensorPose)
 {
 	if (fixedSensorPose)
@@ -218,7 +218,7 @@ bool findOutSensorPose(
 
 		geometry_msgs::msg::TransformStamped ref_to_trgFrame =
 			tfBuffer->lookupTransform(
-				target_frame, source_frame, {} /*latest value*/);
+				referenceFrame, frame, {} /*latest value*/);
 
 		tf2::Transform tf;
 		tf2::fromMsg(ref_to_trgFrame.transform, tf);
@@ -227,7 +227,7 @@ bool findOutSensorPose(
 #if 0
 		std::cout << mrpt::format(
 			"[findOutSensorPose] Found pose %s -> %s: %s\n",
-			source_frame.c_str(), target_frame.c_str(), des.asString().c_str());
+			referenceFrame.c_str(), frame.c_str(), des.asString().c_str());
 #endif
 
 		return true;