set correct frame_id of transformed_cloud

[storrrrrrrrm]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I'm convinced that this is not my fault but a bug.

Description

atfer LidarApolloInstanceSegmentation recv point cloud，it first change cloud from lidar frame(like velodyne_top) to target frame(like base_link), however,in

bool LidarApolloInstanceSegmentation::transformCloud(
const sensor_msgs::msg::PointCloud2 & input, sensor_msgs::msg::PointCloud2 & transformed_cloud,
float z_offset)

transformed_cloud frame id is not set correctly.

Expected behavior

set transformed_cloud frame_id to base_link

Actual behavior

set transformed_cloud frame_id to velodyne_top

Steps to reproduce

1. set 'target_frame' in launch.xml to 'base_link'
2. play a liadr bag with frame_id 'velodyne_top'

Versions

No response

Possible causes

frame_id of pcl_transformed_cloud is not properly set

solution

add pcl_transformed_cloud.header.frame_id = target_frame_;

bool LidarApolloInstanceSegmentation::transformCloud(
  const sensor_msgs::msg::PointCloud2 & input, sensor_msgs::msg::PointCloud2 & transformed_cloud,
  float z_offset)
{
  // TODO(mitsudome-r): remove conversion once pcl_ros transform are available.
  pcl::PointCloud<pcl::PointXYZI> pcl_input, pcl_transformed_cloud;
  pcl::fromROSMsg(input, pcl_input);

  // transform pointcloud to target_frame
  if (target_frame_ != input.header.frame_id) {
    try {
      geometry_msgs::msg::TransformStamped transform_stamped;
      transform_stamped = tf_buffer_.lookupTransform(
        target_frame_, input.header.frame_id, input.header.stamp, std::chrono::milliseconds(500));
      Eigen::Matrix4f affine_matrix =
        tf2::transformToEigen(transform_stamped.transform).matrix().cast<float>();
      pcl::transformPointCloud(pcl_input, pcl_transformed_cloud, affine_matrix);
      transformed_cloud.header.frame_id = target_frame_;
+      pcl_transformed_cloud.header.frame_id = target_frame_;

    } catch (tf2::TransformException & ex) {
      RCLCPP_WARN(node_->get_logger(), "%s", ex.what());
      return false;
    }
  } else {
    pcl_transformed_cloud = pcl_input;
  }

  // move pointcloud z_offset in z axis
  pcl::PointCloud<pcl::PointXYZI> pointcloud_with_z_offset;
  Eigen::Affine3f z_up_translation(Eigen::Translation3f(0, 0, z_offset));
  Eigen::Matrix4f z_up_transform = z_up_translation.matrix();
  pcl::transformPointCloud(pcl_transformed_cloud, pcl_transformed_cloud, z_up_transform);

  pcl::toROSMsg(pcl_transformed_cloud, transformed_cloud);

  return true;
}

Additional context

No response