commit

aarch64/topic-echo/main/main.go

@@ -2,7 +2,6 @@ package main
 
 import (
 	"cicv-data-closedloop/common/util"
-	masterConfig "cicv-data-closedloop/kinglong/master/pkg/cfg"
 	"cicv-data-closedloop/kinglong_msgs"
 	"fmt"
 	"github.com/bluenviron/goroslib/v2"
@@ -26,7 +25,7 @@ func main() {
 	if topic == TopicOfNodeFaultInfo {
 		_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 			Node:  rosNode,
-			Topic: masterConfig.TopicOfNodeFaultInfo,
+			Topic: TopicOfNodeFaultInfo,
 			Callback: func(data *kinglong_msgs.FaultInfo) {
 				fmt.Println("收到话题", topic, "的数据", data)
 			}})
@@ -34,7 +33,7 @@ func main() {
 	if topic == TopicOfCicvLocation {
 		_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 			Node:  rosNode,
-			Topic: masterConfig.TopicOfCicvLocation,
+			Topic: TopicOfCicvLocation,
 			Callback: func(data *kinglong_msgs.PerceptionLocalization) {
 				fmt.Println("收到话题", topic, "的数据", data)
 			}})
@@ -42,7 +41,7 @@ func main() {
 	if topic == TopicOfTpperception {
 		_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 			Node:  rosNode,
-			Topic: masterConfig.TopicOfTpperception,
+			Topic: TopicOfTpperception,
 			Callback: func(data *kinglong_msgs.PerceptionObjects) {
 				fmt.Println("收到话题", topic, "的数据", data)
 			}})
@@ -50,7 +49,7 @@ func main() {
 	if topic == TopicOfFaultInfo {
 		_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 			Node:  rosNode,
-			Topic: masterConfig.TopicOfFaultInfo,
+			Topic: TopicOfFaultInfo,
 			Callback: func(data *kinglong_msgs.FaultVec) {
 				fmt.Println("收到话题", topic, "的数据", data)
 			}})
@@ -58,7 +57,7 @@ func main() {
 	if topic == TopicOfDataRead {
 		_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 			Node:  rosNode,
-			Topic: masterConfig.TopicOfDataRead,
+			Topic: TopicOfDataRead,
 			Callback: func(data *kinglong_msgs.Retrieval) {
 				fmt.Println("收到话题", topic, "的数据", data)
 			}})

build.sh

@@ -11,6 +11,9 @@ go build -o ./exe/pji-control.exe ./pji/control/main/control.go
 go build -o ./exe/plugin-vaildate.exe ./aarch64/plugin-vaildate/main/main.go
 go build -o ./exe/plugin-compile.exe ./aarch64/plugin-compile/main/main.go
 
+# 话题echo程序
+go build -o ./exe/topic-echo.exe ./aarch64/topic-echo/main/main.go
+
 # 金龙车插件
 #go build --buildmode=plugin -o ./so/kinglong/overspeed.so ./trigger/kinglong/cicv_location/overspeed/main/overspeed.go
 #go build --buildmode=plugin -o ./so/brake2.so ./trigger/kinglong/data_read/brake/main/brake.go