properly fill the source and target frame names in the generated RBS

Author: doudou

rock_tutorial.orogen

@@ -14,6 +14,11 @@ task_context "RockTutorialControl" do
    #   http://rock-robotics.org/documentation/base_types.html
    output_port "pose_samples", "base::samples::RigidBodyState"
 
+   # The name of the world frame
+   property "world_frame", "/std/string"
+   # The name of the rock's frame
+   property 'body_frame', '/std/string'
+
    # When deploying this task, use a 10ms period by default
    periodic(0.01)
 end

tasks/RockTutorialControl.cpp

@@ -59,6 +59,8 @@ void RockTutorialControl::updateHook()
     rbs.time = base::Time::now();
     rbs.invalidateCovariances();
     rbs.invalidateValues(false,false);
+    rbs.sourceFrame = _body_frame.get();
+    rbs.targetFrame = _world_frame.get();
 
     _pose_samples.write(rbs);
 }