update

ros2/TrackingRos2.cpp

@@ -33,7 +33,10 @@ TrackingRos2::TrackingRos2(const rclcpp::NodeOptions& node_options)
                 std::placeholders::_1));
   std::string pub_topic = "/perception/object_recognition/tracking/objects";
   m_tracking_res = this->create_publisher<
-      wit_perception_msgs::msg::TrackedObjectsEx>(pub_topic, 10);
+      autoware_auto_perception_msgs::msg::TrackedObjects>(pub_topic, 10);
+  std::string pub_topic_ex = "/perception/object_recognition/tracking/objects_ex";
+  m_tracking_res_ex = this->create_publisher<
+      wit_perception_msgs::msg::TrackedObjectsEx>(pub_topic_ex, 10);
   m_pubMarker = this->create_publisher<visualization_msgs::msg::MarkerArray>(
       "output/sensors_fusion_obj_markers", 10);
   m_pubMarkerText = this->create_publisher<visualization_msgs::msg::MarkerArray>(
@@ -417,9 +420,9 @@ void TrackingRos2::TrackingPorcess(objTrackListPtr objsPtr) {
         markerText.color.b = 0.0f;
         markerText.color.a = 1.0;
         char str[512] = {};
-        sprintf(str, "%lld:%.2f",iter.first,linear.x);
+        // sprintf(str, "%lld:%.2f",iter.first,linear.x);
         // sprintf(str, "%.1f:%d:%d",cof,iter.first,obj.classification[0].label);
-        // sprintf(str, "%.2f:%d:%.2f:%.2f",cof,obj.classification[0].label,poss.x,linear.x);
+        sprintf(str, "%.2f:%d:%.2f:%.2f",cof,obj.classification[0].label,poss.y,poss.x);
         markerText.text = str;        
         makerTextArray.markers.emplace_back(markerText); 
         RCLCPP_INFO(this->get_logger(),"tracking obj info id = %lld, label = %d,cof = %.2f,pos = [%.2f,%.2f,%.2f],linear = [%.2f,%.2f]",
@@ -498,13 +501,14 @@ void TrackingRos2::TrackingPorcess(objTrackListPtr objsPtr) {
                 float(pt[5] - pt[4])/1000,float(pt[6] - pt[5])/1000,float(pt[7] - pt[6])/1000,float(pt[8] - pt[7])/1000,float(GetCurTime() - start_timestamp)/1000);      
         beginPrint = GetCurTime();
     }      
+  m_tracking_res->publish(sendObjs);
   sendObjsEx.tracks = sendObjs;
   sendObjsEx.pt = objsPtr->pt;
   sendObjsEx.pt.push_back(GetCurTime());
   //打印时间戳
   //（top收到的时间戳，三个点云同步完成时间戳，点云拼接完的时间戳,点云检测完成时间，检测结果发送时间）
   // (收到检测结果时间戳，与相机融合之后的时间戳，融合之后发送的时间戳，tracking收到消息时间戳，tracking发送的时间戳）  
-  m_tracking_res->publish(sendObjsEx);
+  m_tracking_res_ex->publish(sendObjsEx);
   m_pubMarker->publish(makerArray);
   m_pubMarkerText->publish(makerTextArray);
   // m_pubBoundingBoxes.publish(sendBoxes);

ros2/TrackingRos2.h

@@ -35,7 +35,8 @@ class TrackingRos2 : public rclcpp::Node {
    private:
 
     rclcpp::Subscription<wit_perception_msgs::msg::DetectedObjectsWithFeatureEx>::SharedPtr m_fusion_res;
-    rclcpp::Publisher<wit_perception_msgs::msg::TrackedObjectsEx>::SharedPtr m_tracking_res;
+    rclcpp::Publisher<autoware_auto_perception_msgs::msg::TrackedObjects>::SharedPtr m_tracking_res;   
+    rclcpp::Publisher<wit_perception_msgs::msg::TrackedObjectsEx>::SharedPtr m_tracking_res_ex;
     rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr m_pubMarker;
     rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr m_pubMarkerText;