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BaseTracker/Track3D.h

@@ -4,6 +4,9 @@
 #include <queue>
 #include "BaseTrack.h"
 #include "kalman_filter.h"
+#ifdef _USING_DEFINE_MSG_H_
+#include "RosMsg.h"
+#else
 #ifdef _QICHECHENG_
 #include "jfxrosperceiver/det_tracking.h"
 #define jfx_common_msgs jfxrosperceiver
@@ -12,6 +15,7 @@
 #endif
 
 using trackOjbPtr = std::shared_ptr< jfx_common_msgs::det_tracking>;
+#endif
 
 struct point2d
 {

ros2/RosMsg.h

@@ -5,3 +5,12 @@
 #include "autoware_auto_perception_msgs/msg/object_classification.hpp"
 
 using objTrackListPtr = std::shared_ptr<tier4_perception_msgs::msg::DetectedObjectsWithFeature>;
+
+struct TrackTructObj
+{
+    uint64_t frame;
+    int type;
+    std::shared_ptr<tier4_perception_msgs::msg::DetectedObjectsWithFeature>  obj;
+}
+
+using trackOjbPtr = std::shared_ptr<TrackTructObj>;