Add conditional compilation to TFMessageMsgSerializer for ROS2

Field-Robotics-Japan · Nov 20, 2024 · 58c7e1d · 58c7e1d
1 parent a2b6711
commit 58c7e1d
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/Assets/UnitySensorsROS/Runtime/Scripts/Serializers/Tf2Msgs/TFMessageMsgSerializer.cs b/Assets/UnitySensorsROS/Runtime/Scripts/Serializers/Tf2Msgs/TFMessageMsgSerializer.cs
@@ -38,7 +38,10 @@ public override TFMessageMsg Serialize()
                 TransformStampedMsg transform = new TransformStampedMsg();
                 transform.header = new HeaderMsg();
                 transform.header.stamp = headerMsg.stamp;
+#if ROS2
+#else
                 transform.header.seq = headerMsg.seq;
+#endif
                 transform.header.frame_id = data.frame_id_parent;
                 transform.child_frame_id = data.frame_id_child;
                 transform.transform.translation = data.position.To<FLU>();