update

ros2/TrackingRos2.cpp

@@ -334,6 +334,10 @@ void TrackingRos2::TrackingPorcess(objTrackListPtr objsPtr) {
     while (orient.y < -_PI_) {
     orient.y += _PI_ * 2;
     }    
+    geometry_msgs::msg::Vector3& linear =
+        obj.kinematics.twist_with_covariance.twist.linear;  
+    linear.x *= 10;  
+    linear.y *= 10;  
     geometry_msgs::msg::Point& poss =
         obj.kinematics.pose_with_covariance.pose.position;    
     if (is_need_send == 1 && orient.y < 2 && poss.y > -15 && poss.y < 15) {
@@ -404,7 +408,8 @@ void TrackingRos2::TrackingPorcess(objTrackListPtr objsPtr) {
         markerText.color.b = 0.0f;
         markerText.color.a = 1.0;
         char str[512] = {};
-        sprintf(str, "%.2f:%d:%.2f",obj.existence_probability,obj.classification[0].label,poss.x);
+        sprintf(str, "%d:%.2f",iter.first,linear.x);
+        // sprintf(str, "%.2f:%d:%.2f",obj.existence_probability,obj.classification[0].label,poss.x);
         markerText.text = str;        
         makerTextArray.markers.emplace_back(markerText);        
         sendObjs.objects.emplace_back(obj);