From cc8292c2aaf1ec6e47d785799656e8ab00289ee4 Mon Sep 17 00:00:00 2001
From: Bartok9 <danielrpike9@gmail.com>
Date: Mon, 27 Jul 2026 05:22:32 -0400
Subject: [PATCH] salvage(ros): prefix camera optical frames with vehicle name

Credit @alonfaraj #4509. Drop redundant ROS2 optical child override
and namespace multi-vehicle image frame_ids.
---
 ros/src/airsim_ros_pkgs/src/airsim_ros_wrapper.cpp  | 4 ++--
 ros2/src/airsim_ros_pkgs/src/airsim_ros_wrapper.cpp | 5 ++---
 2 files changed, 4 insertions(+), 5 deletions(-)

diff --git a/ros/src/airsim_ros_pkgs/src/airsim_ros_wrapper.cpp b/ros/src/airsim_ros_pkgs/src/airsim_ros_wrapper.cpp
index e17a0f7381..1dec69529a 100644
--- a/ros/src/airsim_ros_pkgs/src/airsim_ros_wrapper.cpp
+++ b/ros/src/airsim_ros_pkgs/src/airsim_ros_wrapper.cpp
@@ -1421,13 +1421,13 @@ void AirsimROSWrapper::process_and_publish_img_response(const std::vector<ImageR
         if (curr_img_response.pixels_as_float) {
             image_pub_vec_[img_response_idx_internal].publish(get_depth_img_msg_from_response(curr_img_response,
                                                                                               curr_ros_time,
-                                                                                              curr_img_response.camera_name + "_optical"));
+                                                                                              vehicle_name + "/" + curr_img_response.camera_name + "_optical"));
         }
         // Scene / Segmentation / SurfaceNormals / Infrared
         else {
             image_pub_vec_[img_response_idx_internal].publish(get_img_msg_from_response(curr_img_response,
                                                                                         curr_ros_time,
-                                                                                        curr_img_response.camera_name + "_optical"));
+                                                                                        vehicle_name + "/" + curr_img_response.camera_name + "_optical"));
         }
         img_response_idx_internal++;
     }
diff --git a/ros2/src/airsim_ros_pkgs/src/airsim_ros_wrapper.cpp b/ros2/src/airsim_ros_pkgs/src/airsim_ros_wrapper.cpp
index ce3f3390df..14b77ee549 100755
--- a/ros2/src/airsim_ros_pkgs/src/airsim_ros_wrapper.cpp
+++ b/ros2/src/airsim_ros_pkgs/src/airsim_ros_wrapper.cpp
@@ -1211,7 +1211,6 @@ void AirsimROSWrapper::append_static_camera_tf(VehicleROS* vehicle_ros, const st
 
     geometry_msgs::msg::TransformStamped static_cam_tf_optical_msg = static_cam_tf_body_msg;
     static_cam_tf_optical_msg.child_frame_id = vehicle_ros->vehicle_name_ + "/" + camera_name + "_optical/static";
-    static_cam_tf_optical_msg.child_frame_id = camera_name + "_optical/static";
     static_cam_tf_optical_msg.transform = get_camera_optical_tf_from_body_tf(static_cam_tf_body_msg.transform);
 
     vehicle_ros->static_tf_msg_vec_.emplace_back(static_cam_tf_body_msg);
@@ -1335,13 +1334,13 @@ void AirsimROSWrapper::process_and_publish_img_response(const std::vector<ImageR
         if (curr_img_response.pixels_as_float) {
             image_pub_vec_[img_response_idx_internal].publish(get_depth_img_msg_from_response(curr_img_response,
                                                                                               curr_ros_time,
-                                                                                              curr_img_response.camera_name + "_optical"));
+                                                                                              vehicle_name + "/" + curr_img_response.camera_name + "_optical"));
         }
         // Scene / Segmentation / SurfaceNormals / Infrared
         else {
             image_pub_vec_[img_response_idx_internal].publish(get_img_msg_from_response(curr_img_response,
                                                                                         curr_ros_time,
-                                                                                        curr_img_response.camera_name + "_optical"));
+                                                                                        vehicle_name + "/" + curr_img_response.camera_name + "_optical"));
         }
         img_response_idx_internal++;
     }