From 3862e6bc0328b9bbc01d606418fcf98b7baab07e Mon Sep 17 00:00:00 2001
From: tanjammvo <94610224+tanjammvo@users.noreply.github.com>
Date: Fri, 12 Jun 2026 16:09:00 +0200
Subject: [PATCH] Fix world name in maze.sdf and update IR intensity sensor
 frame ID handling

---
 .../irobot_create_ignition_bringup/worlds/maze.sdf          | 2 +-
 .../src/sensors/ir_intensity.cpp                            | 6 +++++-
 2 files changed, 6 insertions(+), 2 deletions(-)

diff --git a/irobot_create_ignition/irobot_create_ignition_bringup/worlds/maze.sdf b/irobot_create_ignition/irobot_create_ignition_bringup/worlds/maze.sdf
index aa0f4bd5..c464fdd5 100644
--- a/irobot_create_ignition/irobot_create_ignition_bringup/worlds/maze.sdf
+++ b/irobot_create_ignition/irobot_create_ignition_bringup/worlds/maze.sdf
@@ -1,5 +1,5 @@
 <sdf version='1.8'>
-    <world name='default'>
+    <world name='maze'>
         <physics name='1ms' type='ignored'>
             <max_step_size>0.001</max_step_size>
             <real_time_factor>1</real_time_factor>
diff --git a/irobot_create_ignition/irobot_create_ignition_toolbox/src/sensors/ir_intensity.cpp b/irobot_create_ignition/irobot_create_ignition_toolbox/src/sensors/ir_intensity.cpp
index f8798ecb..8882c59a 100644
--- a/irobot_create_ignition/irobot_create_ignition_toolbox/src/sensors/ir_intensity.cpp
+++ b/irobot_create_ignition/irobot_create_ignition_toolbox/src/sensors/ir_intensity.cpp
@@ -71,8 +71,12 @@ void IrIntensity::ir_scan_callback(const sensor_msgs::msg::LaserScan::SharedPtr
 
   // Publish to appropriate topic
   for (const std::string & sensor : ir_intensity_sensors_) {
-    if (ir_msg->header.frame_id.find(sensor) != std::string::npos) {
+    std::string expected_frame = "ir_intensity_" + sensor;
+    if (ir_msg->header.frame_id.rfind(expected_frame) != std::string::npos) {
+      ir_intensity_msg.header.frame_id = std::move(expected_frame);
+      ir_intensity_msg.header.stamp = ir_msg->header.stamp;
       ir_intensity_pub_[sensor]->publish(ir_intensity_msg);
+      break;
     }
   }
 }