提交更新

TrackingRos.cpp

@@ -683,17 +683,22 @@ void TrackingRos::ThreadTrackingProcess()
             m_pubMarkerArray.publish(sendMarkers);
             m_pubCloud.publish(objsPtr->cloud);
 #ifdef _SEND_ABUZHABI_
-            std::stringstream ss;
-            jf_ajson::save_to(ss, send_abu);
-            std_msgs::String s_msg;
-            s_msg.data = std::move(ss.str());
-            static uint64_t countBeginA = GetCurTime();
-            if (GetCurTime() - countBeginA > 3000 * 1000)
+            static int sendNum = 0;
+            sendNum++;
+            if(sendNum%3 == 0)
             {
-                SDK_LOG(SDK_INFO, "send abuzhabi msg = %s", s_msg.data.c_str());
-                countBeginA = GetCurTime();
+                std::stringstream ss;
+                jf_ajson::save_to(ss, send_abu);
+                std_msgs::String s_msg;
+                s_msg.data = std::move(ss.str());
+                static uint64_t countBeginA = GetCurTime();
+                if (GetCurTime() - countBeginA > 3000 * 1000)
+                {
+                    SDK_LOG(SDK_INFO, "send abuzhabi msg = %s", s_msg.data.c_str());
+                    countBeginA = GetCurTime();
+                }
+                m_pubAbuzhabi.publish(s_msg);
             }
-            m_pubAbuzhabi.publish(s_msg);
 #endif
 #ifdef _USING_NSIGHT_
             nvtxRangePop();