DepthCamera in `ign-sensors6` does not reflect `<ignition_frame_id>`

[MrKeith99]

Summary

Related pull request: https://github.com/gazebosim/gz-sensors/pull/452

Related issue: https://github.com/gazebosim/gz-sensors/issues/239

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

Originally posted by @iche033 in https://github.com/gazebosim/gz-sensors/issues/452#issuecomment-2286831195

Thank you for your prompt feedback.

This is the environment I am currently using:

• OS Version: Ubuntu 22.04
• Binary build
• version: Fortress version 6.16.0

I have tested your given sample code, achieving the following result:

$ ign topic -e -t /depth/points | grep header -A 8
header {
  stamp {
    sec: 7
    nsec: 783000000
  }
  data {
    key: "frame_id"
    value: "depth_camera::link::camera"
  }

But no problem with the /depth topic

$ ign topic -e -t /depth | grep header -A 8
header {
  stamp {
    sec: 743
    nsec: 347000000
  }
  data {
    key: "frame_id"
    value: "my_frame_id"
  }

This occurs in the same way with the robot that I am trying to simulate using xacro and linking it with gazebo using reference and ignition_frame_id tags.