提交参数可以配置topic名称

TrackingRos.cpp

@@ -321,10 +321,26 @@ void TrackingRos::Init(ros::NodeHandle& nh)
     SDK_IDX_LOG(1, SDK_INFO, "date,frameNum,time,id,input_radian,input_angle,predict_radian,predict_angle,output_radian,output_angle,input_type,input_x,input_y,input_z,input_l,input_w,input_h,last_type,predict_x,predict_y,predict_z,predict_l,predict_w,preditc_h,output_type,output_x,output_y,output_z,output_l,output_w,output_h,output_rot_y,v_x,v_y,v_z,lat,lon");
     //m_coordinate.Init(value[0][0], value[0][1], value[0][2], value[0][3], value[1][0], value[1][1]);
 
-    m_pub = nh.advertise<jfx_common_msgs::det_tracking_array>("/tracking_res", 100);
-    m_pubCloud = nh.advertise<sensor_msgs::PointCloud2>("/tracking_cloud", 100);
-    m_pubBoundingBoxes = nh.advertise<jsk_recognition_msgs::BoundingBoxArray>("/tracking_bbox", 100);
-    m_pubMarkerArray = nh.advertise<visualization_msgs::MarkerArray>("/tracking_loc", 100);
+    std::string fusion_topic = "/fusion_res";
+    std::string tracking_topic = "/tracking_res";
+    std::string cloud_topic = "/tracking_cloud";
+    std::string tracking_box_topic = "/tracking_bbox";
+    std::string tracking_marker_topic = "/tracking_loc";
+    if(config["fusion_topic_name"])
+        fusion_topic = config["fusion_topic_name"].as<std::string>();
+    if(config["tracking_topic_name"])
+        tracking_topic = config["tracking_topic_name"].as<std::string>();
+    if(config["cloud_topic_name"])
+        cloud_topic = config["cloud_topic_name"].as<std::string>();
+    if(config["tracking_box_topic_name"])
+        tracking_box_topic = config["tracking_box_topic_name"].as<std::string>();
+    if(config["tracking_marker_topic_name"])
+        tracking_marker_topic = config["tracking_marker_topic_name"].as<std::string>();           
+    m_subFusionRes = nh.subscribe<jfx_common_msgs::det_tracking_array>(fusion_topic.c_str(), 1000, &TrackingRos::TrackingCallBackFunc, this);
+    m_pub = nh.advertise<jfx_common_msgs::det_tracking_array>(tracking_topic.c_str(), 100);
+    m_pubCloud = nh.advertise<sensor_msgs::PointCloud2>(cloud_topic.c_str(), 100);
+    m_pubBoundingBoxes = nh.advertise<jsk_recognition_msgs::BoundingBoxArray>(tracking_box_topic.c_str(), 100);
+    m_pubMarkerArray = nh.advertise<visualization_msgs::MarkerArray>(tracking_marker_topic.c_str(), 100);
 #ifdef _SEND_ABUZHABI_
     m_pubAbuzhabi = nh.advertise<std_msgs::String>("/abuzhabi_msg",100);
 #endif

TrackingRos.h

@@ -46,6 +46,7 @@ public:
     ros::Publisher m_pubCloud;//发送点云数据
     ros::Publisher m_pubBoundingBoxes;//发送3D框信息
     ros::Publisher m_pubMarkerArray;//发送marker框信息
+    ros::Subscriber m_subFusionRes;
 #ifdef _SEND_ABUZHABI_
     ros::Publisher m_pubAbuzhabi;//阿布扎比发送的数据
 #endif

jfx_tracking.cpp

@@ -57,7 +57,7 @@ int main(int argc, char*argv[]) {
 
     TrackingRos jfx_tracking;
     jfx_tracking.Init(nh);
-    ros::Subscriber track_sub = nh.subscribe<jfx_common_msgs::det_tracking_array>("/fusion_res", 1000, &TrackingRos::TrackingCallBackFunc, &jfx_tracking);
+    // ros::Subscriber track_sub = nh.subscribe<jfx_common_msgs::det_tracking_array>("/fusion_res", 1000, &TrackingRos::TrackingCallBackFunc, &jfx_tracking);
     //rospy.Subscriber("/detection/lidar_detector/objects", det_tracking_array, callback)
 
     ros::spin();