Correct IMU_FRAME and IMU_OPTICAL_FRAME definition from camera_name

[arslogavitabrevis]

Related to the issue #2617.

Now the imu topic header is based on camera_name:

header:
  stamp:
    sec: 1676470898
    nanosec: 797342208
  frame_id: front_camera_imu_optical_frame
orientation:
  x: 0.0
  y: 0.0
  z: 0.0

And the tf tree is complete:

[Nir-Az]

I don't see usage of the new parameter..
Am I missing something?

[arslogavitabrevis]

From my test this parameter allow usage of the updated values of the variable "_camera_name". As you can see in #2617, before this modification, the default value of "_camera_name" was used. After this modification, the value of "_camera_name" used was the one defined in the parameters. I did this modification based on the others lines around that are using a similar pattern.

[Nir-Az]

What I meant is that your change added a macro parameter that is not used.
If we look on other macro's i.e.

#define FRAME_ID(sip) (static_cast<std::ostringstream&&>(std::ostringstream() << _camera_name << "_" << STREAM_NAME(sip) << "_frame")).str()

You can notice the macro usage of the parameter here:

STREAM_NAME(sip) 

[arslogavitabrevis]

You are right this does not seem to be doing the difference. Thanks you for following with me.