Update Gems/ROS2PoseControl/Code/Source/Clients/ROS2PoseControl.cpp

RobotecAI · Nov 28, 2024 · 2ea2162 · 2ea2162
1 parent 31e6502
commit 2ea2162
Showing 1 changed file with 5 additions and 1 deletion.
diff --git a/Gems/ROS2PoseControl/Code/Source/Clients/ROS2PoseControl.cpp b/Gems/ROS2PoseControl/Code/Source/Clients/ROS2PoseControl.cpp
@@ -165,7 +165,11 @@ namespace ROS2PoseControl
 
         // Get the transform from the PoseStamped message
         AZ::Transform transform = ROS2::ROS2Conversions::FromROS2Pose(msg->pose);
-
+        if (msg->header.frame_id.empty())
+        {
+            return AZ::Success(transform);
+        }
+
         // Get the transform from the global frame to the frame in the PoseStamped message
         const auto globalFrameTransform = GetTF2Transform(m_odomFrameId, msg->header.frame_id.c_str());
         if (!globalFrameTransform.IsSuccess())