[FIX] frame_id for depth camera point cloud in Fortress

[MrKeith99]

Fixes https://github.com/gazebosim/gz-sensors/issues/239 and https://github.com/husarion/rosbot_ros/issues/55 for Gazebo Fortress

Summary

Using ignition_frame_id did not change the frame id in the depth camera point cloud message.

With this fix, the depth camera point cloud message's frame id will be updated according to the set ignition_frame_id.

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[iche033]

I tested running fortress with the current ign-sensors6 branch, and <ignition_frame_id> works for me. Do you have a minimal example that shows <ignition_frame_id> is not working?

Here's my test world file: depth_frame_id.sdf

To run:

ign gazebo -v 4 -r  depth_frame_id.sdf

verify frame id:

ign topic -e -t /depth/points | grep header -A 8

and it prints out:

header {
  stamp {
    nsec: 784000000
  }
  data {
    key: "frame_id"
    value: "my_frame_id"
  }
  data {
--

the frame id is my_frame_id which is what I set in the <ignition_frame_id> field in depth_frame_id.sdf