Discrepancy In Reference Frame

[swiz23]

Hi,

Thanks for working on porting the ROS1 package over to ROS2! That's super awesome.

I had a clarification question. I noticed in the ROS1 implementation, you are publishing depth data w.r.t. the left_camera_optical_frame (as shown here), but in the ROS2 implementation, you are publishing depth data w.r.t. the left_camera_frame (as shown here).

Is there a reason for this change?

Thanks!