# reference frame for gazebo_ros_bumper

Hi all,

Why the following part commented out in gazebo_ros_bumper.cpp

  /*
if (myFrame)
{
frame_pose = myFrame->GetWorldPose();  //-this->myBody->GetCoMPose();
frame_pos = frame_pose.pos;
frame_rot = frame_pose.rot;
}
else
*/
{
// no specific frames specified, use identity pose, keeping
// relative frame at inertial origin
frame_pos = math::Vector3(0, 0, 0);
frame_rot = math::Quaternion(1, 0, 0, 0);  // gazebo u,x,y,z == identity
frame_pose = math::Pose(frame_pos, frame_rot);
}


So, it seems we always use the world frame.

Some discussion on this was found here but it does not answer my question.