From 78f11fee7c65844b5f9a891943d10a786947c705 Mon Sep 17 00:00:00 2001
From: Iori Yanokura <ab.ioryz@gmail.com>
Date: Mon, 4 Mar 2024 22:34:06 +0900
Subject: [PATCH] Add frame id for kjs

---
 ros/kxr_controller/node_scripts/rcb4_ros_bridge.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/ros/kxr_controller/node_scripts/rcb4_ros_bridge.py b/ros/kxr_controller/node_scripts/rcb4_ros_bridge.py
index 292f5dcc..14162ccd 100644
--- a/ros/kxr_controller/node_scripts/rcb4_ros_bridge.py
+++ b/ros/kxr_controller/node_scripts/rcb4_ros_bridge.py
@@ -373,6 +373,8 @@ def publish_sensor_values(self):
                             + '/kjs/{}/{}/{}'.format(sensor.id, typ, i),
                             geometry_msgs.msg.WrenchStamped,
                             queue_size=1)
+                    msg.header.frame_id = 'kjs_{}_{}_frame'.format(
+                        sensor.id, i)
                     self._sensor_publisher_dict[key].publish(msg)
 
     def run(self):