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jfx_kalman_filter_src
Commit 8f67081e authored by haoshuang's avatar haoshuang
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update frame id of ros2

parent b41fc456
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Showing with 5 additions and 5 deletions
ros2/TrackingRos2.cpp
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......@@ -98,7 +98,7 @@ void TrackingRos2::TrackingPorcess(objTrackListPtr objsPtr) {
wit_perception_msgs::msg::TrackedObjectsEx sendObjsEx = {};
autoware_auto_perception_msgs::msg::TrackedObjects sendObjs = {};
sendObjs.header = objsPtr->header;
sendObjs.header.frame_id = "top_lidar";
sendObjs.header.frame_id = "rslidar";
uint64_t timestamp = (unsigned long long)objsPtr->header.stamp.sec * 1e6 +
(unsigned long long)objsPtr->header.stamp.nanosec * 1e-3;
static int frameNum = 0;
......@@ -408,7 +408,7 @@ void TrackingRos2::TrackingPorcess(objTrackListPtr objsPtr) {
visualization_msgs::msg::Marker marker = {};
// marker.header = objsPtr->header;
marker.lifetime = rclcpp::Duration(1);
marker.header.frame_id = "top_lidar";
marker.header.frame_id = "rslidar";
marker.type = visualization_msgs::msg::Marker::CUBE;
marker.action = visualization_msgs::msg::Marker::ADD;
marker.id = iter.first;
......@@ -434,7 +434,7 @@ void TrackingRos2::TrackingPorcess(objTrackListPtr objsPtr) {
visualization_msgs::msg::Marker markerText = {};
markerText.lifetime = rclcpp::Duration(1);
markerText.header.frame_id = "top_lidar";
markerText.header.frame_id = "rslidar";
markerText.type = visualization_msgs::msg::Marker::TEXT_VIEW_FACING;
markerText.action = visualization_msgs::msg::Marker::ADD;
markerText.id = iter.first;
......@@ -543,7 +543,7 @@ void TrackingRos2::TrackingPorcess(objTrackListPtr objsPtr) {
}
visualization_msgs::msg::Marker marker = {};
marker.lifetime = rclcpp::Duration(1);
marker.header.frame_id = "top_lidar";
marker.header.frame_id = "rslidar";
marker.type = visualization_msgs::msg::Marker::CUBE;
marker.action = visualization_msgs::msg::Marker::DELETE;
marker.id = lostId[i];
......@@ -564,7 +564,7 @@ void TrackingRos2::TrackingPorcess(objTrackListPtr objsPtr) {
makerArray.markers.emplace_back(marker);
visualization_msgs::msg::Marker markerText = {};
markerText.lifetime = rclcpp::Duration(1);
markerText.header.frame_id = "top_lidar";
markerText.header.frame_id = "rslidar";
markerText.type = visualization_msgs::msg::Marker::TEXT_VIEW_FACING;
markerText.action = visualization_msgs::msg::Marker::DELETE;
markerText.id = lostId[i];
......
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