上传发送逻辑修改

CMakeLists.txt

@@ -2,8 +2,8 @@ cmake_minimum_required(VERSION 2.6)
 
 project(jfx_node_ros)
 
-#set(CMAKE_BUILD_TYPE Debug)
-SET(CMAKE_BUILD_TYPE "Release")
+set(CMAKE_BUILD_TYPE Debug)
+#SET(CMAKE_BUILD_TYPE "Release")
 
 SET(CMAKE_CXX_FLAGS_DEBUG "$ENV{CXXFLAGS} -O0 -Wall -g -ggdb")
 SET(CMAKE_CXX_FLAGS_RELEASE "$ENV{CXXFLAGS} -O2 -Wall")
@@ -11,6 +11,10 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -Wall -Ofast -pthread -Wfatal
 
 set(JFX_COMMON_LIBS_PATH ${PROJECT_SOURCE_DIR}/../jfx_common_libs)
 
+find_package(PCL REQUIRED)
+include_directories(${PCL_INCLUDE_DIRS})
+link_directories(${PCL_LIBRARY_DIRS})
+add_definitions(${PCL_DEFINITIONS})
 
 find_package(catkin REQUIRED COMPONENTS
   roscpp
@@ -26,7 +30,13 @@ find_package(catkin REQUIRED COMPONENTS
   )
 
 catkin_package(
-   CATKIN_DEPENDS roscpp rospy std_msgs jfx_common_msgs
+   CATKIN_DEPENDS 
+   roscpp 
+   rospy
+   std_msgs 
+   jfx_common_msgs
+   #image_transport
+   #cv_bridge
 )
 
 #set(CMAKE_CXX_STANDARD 14)
@@ -61,12 +71,15 @@ include_directories(
 #add_executable(yolov5 ${PROJECT_SOURCE_DIR}/yolov5.cpp)
 add_executable(${PROJECT_NAME} 
         ${PROJECT_SOURCE_DIR}/src/main.cpp 
+        ${PROJECT_SOURCE_DIR}/src/SendRosMsg.cpp 
         )
 
 target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBS})
 #target_link_libraries(${PROJECT_NAME} ${PCL_COMMON_LIBRARIES} ${PCL_IO_LIBRARIES})
 target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} ${PCL_LIBRARIES})
 target_link_libraries(${PROJECT_NAME} yaml-cpp)
+add_dependencies(${PROJECT_NAME} jfx_common_msgs_gencpp)
 
 install(TARGETS
     ${PROJECT_NAME}

launch/jfx_node_ros.launch

 <launch>
   <arg name="parampath"  default="$(find jfx_node_ros)/config/params.yaml"/>
+  <arg name="run_mode"  default="1"/>
+  <arg name="originDataPath"  default="/media/sf_originData/data"/>
+  <arg name="gps_load_file"  default="/media/sf_originData/102022041610.nav/102022041610_traj.txt"/>
+  <arg name="outPutSaveDir"  default="/media/sf_originData/detect_data/"/>
+  <arg name="playDetectTxt"  default="/media/sf_originData/detect_data/detect_gps_7.txt"/>
+  <arg name="pcdFileFolder"  default="/media/sf_pcd_image/mesh"/>
+  <arg name="image0FileFolder"  default="/media/sf_pcd_image/102022041610/image0"/>
+  <arg name="image1FileFolder"  default="/media/sf_pcd_image/102022041610/image1"/>
+  <arg name="send_pcd"  default="1"/>
+  <arg name="send_image"  default="1"/>
   <node pkg="jfx_node_ros" type="jfx_node_ros" name="jfx_node_ros" output="screen" >
     <param name="parampath" value="$(arg parampath)" />
+    <param name="run_mode" value="$(arg run_mode)" />
+    <param name="originDataPath" value="$(arg originDataPath)" />
+    <param name="gps_load_file" value="$(arg gps_load_file)" />
+    <param name="outPutSaveDir" value="$(arg outPutSaveDir)" />
+    <param name="playDetectTxt" value="$(arg playDetectTxt)" />
+    <param name="pcdFileFolder" value="$(arg pcdFileFolder)" />
+    <param name="image0FileFolder" value="$(arg image0FileFolder)" />
+    <param name="image1FileFolder" value="$(arg image1FileFolder)" />
+    <param name="send_pcd" value="$(arg send_pcd)" />
+    <param name="send_image" value="$(arg send_image)" />
   </node>
 </launch>

src/SendRosMsg.hpp

+#ifndef _SEND_ROS_MSG_HPP_
+#define _SEND_ROS_MSG_HPP_
+
+#include "ros/ros.h"
+#include <jsk_recognition_msgs/BoundingBoxArray.h>
+#include <visualization_msgs/MarkerArray.h>
+#include "jfx_common_msgs/det_tracking_array.h"
+#include "jfx_common_msgs/localization.h"
+#include <sensor_msgs/PointCloud2.h>
+
+class LoadFileSendRosMsg
+{
+public:
+    LoadFileSendRosMsg() = default;
+    ~LoadFileSendRosMsg() = default;
+
+    int Play(ros::NodeHandle& nh);
+
+    ros::Publisher m_pubFusionRes;//发送融合后的结果
+    ros::Publisher m_pubLocalization;//发送定位结果
+    ros::Publisher m_pubBoundingBoxes;//发送3D框信息
+    ros::Publisher m_pubMarkerArray;//发送marker框信息
+    ros::Publisher m_pubMarkerArrow;//发送marker框信息
+    ros::Publisher m_pubCloud;
+
+
+};
+
+
+#endif
\ No newline at end of file