提交更新

ros2/RosMsg.h

@@ -4,13 +4,13 @@
 #include "tier4_perception_msgs/msg/detected_object_with_feature.hpp"
 #include "autoware_auto_perception_msgs/msg/object_classification.hpp"
 
-using objTrackListPtr = std::shared_ptr<tier4_perception_msgs::msg::DetectedObjectsWithFeature>;
+using objTrackListPtr = std::shared_ptr<autoware_auto_perception_msgs::msg::TrackedObject>;
 
-struct TrackTructObj
+struct TrackStructObj
 {
     uint64_t frame;
     int type;
     objTrackListPtr  obj;
 };
 
-using trackOjbPtr = std::shared_ptr<TrackTructObj>;
+using trackOjbPtr = std::shared_ptr<TrackStructObj>;

ros2/TrackingRos2.h

@@ -9,6 +9,8 @@
 #include "tier4_perception_msgs/msg/detected_objects_with_feature.hpp"
 #include "tier4_perception_msgs/msg/detected_object_with_feature.hpp"
 #include "autoware_auto_perception_msgs/msg/object_classification.hpp"
+#include "wit_perception_msgs/msg/detected_objects_with_feature_ex.hpp"
+#include "wit_perception_msgs/msg/detected_object_with_feature_ex.hpp"
 #include "TrackingObj.h"
 //#define ONLINE
 
@@ -29,10 +31,10 @@ class TrackingRos2 : public rclcpp::Node {
 
    private:
 
-    rclcpp::Subscription<tier4_perception_msgs::msg::DetectedObjectsWithFeature>::SharedPtr m_fusion_res;
-    rclcpp::Publisher<tier4_perception_msgs::msg::DetectedObjectsWithFeature>::SharedPtr m_tracking_res;
+    rclcpp::Subscription<wit_perception_msgs::msg::DetectedObjectsWithFeatureEx>::SharedPtr m_fusion_res;
+    rclcpp::Publisher<autoware_auto_perception_msgs::msg::TrackedObjects>::SharedPtr m_tracking_res;
 
-    void ReceiveFusionResMsg(const tier4_perception_msgs::msg::DetectedObjectsWithFeature & msg);
+    void ReceiveFusionResMsg(const wit_perception_msgs::msg::DetectedObjectsWithFeatureEx & msg);
 
     void TrackingPorcess(objTrackListPtr objsPtr);