提交发送

TrackingRosEx.cpp

@@ -299,7 +299,7 @@ void TrackingRos::Init(ros::NodeHandle& nh)
     m_pub = nh.advertise<jfx_common_msgs::det_tracking_array>("/tracking_res", 100);
     m_pubCloud = nh.advertise<sensor_msgs::PointCloud2>("/tracking_cloud", 100);
     m_pubBoundingBoxes = nh.advertise<jsk_recognition_msgs::BoundingBoxArray>("/tracking_bbox", 100);
-    
+    m_pubMarker = nh.advertise<visualization_msgs::MarkerArray>("/tracking_loc", 100);
 
     m_objsQueue.set_max_num_items(2);
 
@@ -829,6 +829,7 @@ void TrackingRos::ThreadTrackingProcess()
             m_pubBoundingBoxes.publish(sendBoxes);
             objsPtr->cloud.header.frame_id = "/rslidar";
             m_pubCloud.publish(objsPtr->cloud);
+            m_pubMarker.publish(markerArray);
 #ifdef _USING_NSIGHT_
             nvtxRangePop();
 #endif

TrackingRosEx.h

@@ -50,6 +50,7 @@ public:
     ros::Publisher m_pub;//发送所有物体信息的publisher
     ros::Publisher m_pubCloud;//发送点云数据
     ros::Publisher m_pubBoundingBoxes;//发送3D框信息
+    ros::Publisher m_pubMarker;//发送marker信息
 
     std::vector<std::vector<double>> m_trans;
     std::vector<std::vector<double>> m_kitti2origin;