Ability to specify frame in bag_to_pcd

[LucidOne]

trafficstars

command line option to specify TF frame

[paulbovbel]

Perhaps the standard behaviour could be changed to leave the frame as is, unless a target frame is specified? Seems like some people have trouble using bag_to_pcd if tf data is not recorded along with the pointcloud messages.

http://answers.ros.org/question/11978/how-to-find-the-frame-id-of-a-bag-file/

http://answers.ros.org/question/33072/bag_to_pcd-frame-id/

[LucidOne]

I think we agree. We would need some warning/deprecation notice but I would also change default the frame to the same as the point cloud and skip the tf as the standard behavior.

[paulbovbel]

+1

A reasonable usage message would do the trick.

[ruffsl]

+1

Would this be the place to swap in the parameter here?

[paulbovbel]

Looks like it, yes.