提交更新

ros2/TrackingRos2.cpp

@@ -325,7 +325,7 @@ void TrackingRos2::TrackingPorcess(objTrackListPtr objsPtr) {
       geometry_msgs::msg::Point& poss =
           obj.kinematics.pose_with_covariance.pose.position;
       geometry_msgs::msg::Vector3& dimensionss = obj.shape.dimensions;
-      if (rot_y_angle > -2 && rot_y_angle < 2) {
+      if (1/*rot_y_angle > -2 && rot_y_angle < 2*/) {
         visualization_msgs::msg::Marker marker = {};
         // marker.header = objsPtr->header;
         marker.lifetime = rclcpp::Duration(1);
@@ -374,7 +374,7 @@ void TrackingRos2::TrackingPorcess(objTrackListPtr objsPtr) {
         markerText.color.b = 0.0f;
         markerText.color.a = 1.0;
         char str[512] = {};
-        sprintf(str, "%f",poss.x);
+        sprintf(str, "%d:%.2f",input_obj.tracking_id == 0 ? tracking_id: input_obj.tracking_id,poss.x);
         markerText.text = str;        
         makerTextArray.markers.emplace_back(markerText);        
         sendObjs.objects.emplace_back(obj);