From c31d89328c01a159f336fea00215103528eea745 Mon Sep 17 00:00:00 2001
From: penguin1q <fidepen.pc@gmail.com>
Date: Mon, 12 Jan 2026 12:53:04 +0900
Subject: [PATCH] fix resolution profile not applied in ros_topic_converter

---
 cloudini_ros/src/topic_converter.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/cloudini_ros/src/topic_converter.cpp b/cloudini_ros/src/topic_converter.cpp
index 75240d4..582b688 100644
--- a/cloudini_ros/src/topic_converter.cpp
+++ b/cloudini_ros/src/topic_converter.cpp
@@ -165,8 +165,8 @@ void CloudiniPointcloudConverter::callback(std::shared_ptr<rclcpp::SerializedMes
   auto pc_info = cloudini_ros::getDeserializedPointCloudMessage(raw_dds_msg);
 
   if (compressing_) {
-    const auto encoding_info = cloudini_ros::toEncodingInfo(pc_info);
     cloudini_ros::applyResolutionProfile(cloudini_ros::ResolutionProfile{}, pc_info.fields, resolution_);
+    const auto encoding_info = cloudini_ros::toEncodingInfo(pc_info);
     cloudini_ros::convertPointCloud2ToCompressedCloud(pc_info, encoding_info, output_raw_message_);
   } else {
     cloudini_ros::convertCompressedCloudToPointCloud2(pc_info, output_raw_message_);