commit

aarch64/pjisuv/master/package/config/master_trigger_config.go

@@ -167,7 +167,7 @@ var (
 	RuleOfCamRes  []func(data *sensor_msgs.Image) string
 
 	//38
-	TopicOfCamObjects = "/camera_obstacles"
+	TopicOfCamObjects = "/cam_objects"
 	RuleOfCamObjects  []func(data *pjisuv_msgs.CameraObjectList) string
 
 	//39

aarch64/topic-echo/main/main.go

@@ -26,7 +26,7 @@ func main() {
 	topic := util.ToString(os.Args[2])
 
 	if eType == "pjisuv" {
-		//1
+		//1 一致
 		if topic == pjisuvConfig.TopicOfAmrPose {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
@@ -35,7 +35,7 @@ func main() {
 					fmt.Println("收到话题", topic, "的数据", data)
 				}})
 		}
-		//2
+		//2 一致
 		if topic == pjisuvConfig.TopicOfBoundingBoxesFast {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
@@ -44,7 +44,7 @@ func main() {
 					fmt.Println("收到话题", topic, "的数据", data)
 				}})
 		}
-		//3
+		//3 一致
 		if topic == pjisuvConfig.TopicOfCameraFault {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
@@ -53,7 +53,7 @@ func main() {
 					fmt.Println("收到话题", topic, "的数据", data)
 				}})
 		}
-		//4
+		//4 TODO 消息不一致
 		if topic == pjisuvConfig.TopicOfCanData {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
@@ -62,7 +62,7 @@ func main() {
 					fmt.Println("收到话题", topic, "的数据", data)
 				}})
 		}
-		//5
+		//5 一致
 		if topic == pjisuvConfig.TopicOfCh128x1LslidarPointCloud {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
@@ -71,7 +71,7 @@ func main() {
 					fmt.Println("收到话题", topic, "的数据", data)
 				}})
 		}
-		//6
+		//6 一致
 		if topic == pjisuvConfig.TopicOfCh64wLLslidarPointCloud {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
@@ -80,7 +80,7 @@ func main() {
 					fmt.Println("收到话题", topic, "的数据", data)
 				}})
 		}
-		//7
+		//7 一致
 		if topic == pjisuvConfig.TopicOfCh64wLScan {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
@@ -89,7 +89,7 @@ func main() {
 					fmt.Println("收到话题", topic, "的数据", data)
 				}})
 		}
-		//8
+		//8 一致
 		if topic == pjisuvConfig.TopicOfCh64wRLslidarPointCloud {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
@@ -98,7 +98,7 @@ func main() {
 					fmt.Println("收到话题", topic, "的数据", data)
 				}})
 		}
-		//9
+		//9 一致
 		if topic == pjisuvConfig.TopicOfCh64wRScan {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
@@ -107,7 +107,7 @@ func main() {
 					fmt.Println("收到话题", topic, "的数据", data)
 				}})
 		}
-		//10
+		//10 一致
 		if topic == pjisuvConfig.TopicOfCicvLidarclusterMovingObjects {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
@@ -116,7 +116,7 @@ func main() {
 					fmt.Println("收到话题", topic, "的数据", data)
 				}})
 		}
-		//11
+		//11 TODO 该topic没有数据发出
 		if topic == pjisuvConfig.TopicOfCicvAmrTrajectory {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
@@ -125,7 +125,7 @@ func main() {
 					fmt.Println("收到话题", topic, "的数据", data)
 				}})
 		}
-		//12
+		//12 一致
 		if topic == pjisuvConfig.TopicOfCicvLocation {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
@@ -134,7 +134,7 @@ func main() {
 					fmt.Println("收到话题", topic, "的数据", data)
 				}})
 		}
-		//13
+		//13 TODO 消息不一致
 		if topic == pjisuvConfig.TopicOfCloudClusters {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
@@ -143,7 +143,7 @@ func main() {
 					fmt.Println("收到话题", topic, "的数据", data)
 				}})
 		}
-		//14
+		//14 一致
 		if topic == pjisuvConfig.TopicOfHeartbeatInfo {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
@@ -152,7 +152,7 @@ func main() {
 					fmt.Println("收到话题", topic, "的数据", data)
 				}})
 		}
-		//15
+		//15 一致
 		if topic == pjisuvConfig.TopicOfLidarPretreatmentCost {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
@@ -161,7 +161,7 @@ func main() {
 					fmt.Println("收到话题", topic, "的数据", data)
 				}})
 		}
-		//16
+		//16 一致
 		if topic == pjisuvConfig.TopicOfLidarPretreatmentOdometry {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
@@ -170,7 +170,7 @@ func main() {
 					fmt.Println("收到话题", topic, "的数据", data)
 				}})
 		}
-		//17
+		//17 一致
 		if topic == pjisuvConfig.TopicOfLidarRoi {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
@@ -179,7 +179,7 @@ func main() {
 					fmt.Println("收到话题", topic, "的数据", data)
 				}})
 		}
-		//18
+		//18 一致
 		if topic == pjisuvConfig.TopicOfLine1 {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
@@ -188,7 +188,7 @@ func main() {
 					fmt.Println("收到话题", topic, "的数据", data)
 				}})
 		}
-		//19
+		//19 一致
 		if topic == pjisuvConfig.TopicOfLine2 {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
@@ -197,7 +197,7 @@ func main() {
 					fmt.Println("收到话题", topic, "的数据", data)
 				}})
 		}
-		//20
+		//20 一致
 		if topic == pjisuvConfig.TopicOfMapPolygon {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
@@ -206,7 +206,7 @@ func main() {
 					fmt.Println("收到话题", topic, "的数据", data)
 				}})
 		}
-		//21
+		//21 一致
 		if topic == pjisuvConfig.TopicOfObstacleDisplay {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
@@ -215,7 +215,7 @@ func main() {
 					fmt.Println("收到话题", topic, "的数据", data)
 				}})
 		}
-		//22
+		//22 一致
 		if topic == pjisuvConfig.TopicOfPjControlPub {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
@@ -224,7 +224,7 @@ func main() {
 					fmt.Println("收到话题", topic, "的数据", data)
 				}})
 		}
-		//23
+		//23 一致
 		if topic == pjisuvConfig.TopicOfPointsCluster {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
@@ -233,7 +233,7 @@ func main() {
 					fmt.Println("收到话题", topic, "的数据", data)
 				}})
 		}
-		//24
+		//24 一致
 		if topic == pjisuvConfig.TopicOfPointsConcat {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
@@ -242,7 +242,7 @@ func main() {
 					fmt.Println("收到话题", topic, "的数据", data)
 				}})
 		}
-		//25
+		//25 TODO 没有数据发出
 		if topic == pjisuvConfig.TopicOfReferenceDisplay {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
@@ -251,7 +251,7 @@ func main() {
 					fmt.Println("收到话题", topic, "的数据", data)
 				}})
 		}
-		//26
+		//26 TODO 没有数据发出
 		if topic == pjisuvConfig.TopicOfReferenceTrajectory {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
@@ -260,7 +260,7 @@ func main() {
 					fmt.Println("收到话题", topic, "的数据", data)
 				}})
 		}
-		//27
+		//27 TODO 没有数据发出
 		if topic == pjisuvConfig.TopicOfRoiPoints {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
@@ -269,7 +269,7 @@ func main() {
 					fmt.Println("收到话题", topic, "的数据", data)
 				}})
 		}
-		//28
+		//28 一致
 		if topic == pjisuvConfig.TopicOfRoiPolygon {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
@@ -278,7 +278,7 @@ func main() {
 					fmt.Println("收到话题", topic, "的数据", data)
 				}})
 		}
-		//29
+		//29 一致
 		if topic == pjisuvConfig.TopicOfTf {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
@@ -287,7 +287,7 @@ func main() {
 					fmt.Println("收到话题", topic, "的数据", data)
 				}})
 		}
-		//30
+		//30 一致
 		if topic == pjisuvConfig.TopicOfTpperception {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
@@ -296,7 +296,7 @@ func main() {
 					fmt.Println("收到话题", topic, "的数据", data)
 				}})
 		}
-		//31
+		//31 TODO 没有数据发出
 		if topic == pjisuvConfig.TopicOfTpperceptionVis {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
@@ -305,7 +305,7 @@ func main() {
 					fmt.Println("收到话题", topic, "的数据", data)
 				}})
 		}
-		//32
+		//32 一致
 		if topic == pjisuvConfig.TopicOfTprouteplan {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
@@ -314,7 +314,7 @@ func main() {
 					fmt.Println("收到话题", topic, "的数据", data)
 				}})
 		}
-		//33
+		//33 todo 没有数据发出
 		if topic == pjisuvConfig.TopicOfTrajectoryDisplay {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
@@ -323,7 +323,7 @@ func main() {
 					fmt.Println("收到话题", topic, "的数据", data)
 				}})
 		}
-		//34
+		//34 一致
 		if topic == pjisuvConfig.TopicOfUngroundCloudpoints {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
@@ -332,7 +332,7 @@ func main() {
 					fmt.Println("收到话题", topic, "的数据", data)
 				}})
 		}
-		//35
+		//35 一致
 		if topic == pjisuvConfig.TopicOfCameraImage {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
@@ -341,7 +341,7 @@ func main() {
 					fmt.Println("收到话题", topic, "的数据", data)
 				}})
 		}
-		//36
+		//36 todo 没有数据发出
 		if topic == pjisuvConfig.TopicOfCameraObstacles {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
@@ -350,7 +350,7 @@ func main() {
 					fmt.Println("收到话题", topic, "的数据", data)
 				}})
 		}
-		//37
+		//37 todo 连接失败
 		if topic == pjisuvConfig.TopicOfCamRes {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
@@ -359,7 +359,7 @@ func main() {
 					fmt.Println("收到话题", topic, "的数据", data)
 				}})
 		}
-		//38
+		//38 todo 本人话题输入错误
 		if topic == pjisuvConfig.TopicOfCamObjects {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
@@ -368,7 +368,7 @@ func main() {
 					fmt.Println("收到话题", topic, "的数据", data)
 				}})
 		}
-		//39
+		//39 todo 连接失败
 		if topic == pjisuvConfig.TopicOfTftrafficlight {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
@@ -377,7 +377,7 @@ func main() {
 					fmt.Println("收到话题", topic, "的数据", data)
 				}})
 		}
-		//40
+		//40 todo 没有数据发出
 		if topic == pjisuvConfig.TopicOfStationStatus {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
@@ -386,7 +386,7 @@ func main() {
 					fmt.Println("收到话题", topic, "的数据", data)
 				}})
 		}
-		//41
+		//41 todo 没有数据发出
 		if topic == pjisuvConfig.TopicOfDestinationPose {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
@@ -395,7 +395,7 @@ func main() {
 					fmt.Println("收到话题", topic, "的数据", data)
 				}})
 		}
-		//42
+		//42 todo 没有数据发出
 		if topic == pjisuvConfig.TopicOfMapDisplay {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
@@ -404,7 +404,7 @@ func main() {
 					fmt.Println("收到话题", topic, "的数据", data)
 				}})
 		}
-		//43
+		//43 todo 没有数据发出
 		if topic == pjisuvConfig.TopicOfRoutingRviz {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
@@ -413,7 +413,7 @@ func main() {
 					fmt.Println("收到话题", topic, "的数据", data)
 				}})
 		}
-		//44
+		//44 todo 没有数据发出
 		if topic == pjisuvConfig.TopicOfRouteMessage {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
@@ -422,7 +422,7 @@ func main() {
 					fmt.Println("收到话题", topic, "的数据", data)
 				}})
 		}
-		//45
+		//45 todo 没有数据发出
 		if topic == pjisuvConfig.TopicOfRouteResultMessage {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
@@ -431,7 +431,7 @@ func main() {
 					fmt.Println("收到话题", topic, "的数据", data)
 				}})
 		}
-		//46
+		//46 todo 没有数据发出
 		if topic == pjisuvConfig.TopicOfDataRead {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,

pjisuv_msgs/autoware_msgs.go

@@ -22,29 +22,31 @@ type AutowareCentroids struct {
 
 type AutowareCloudCluster struct {
 	msg.Package    `ros:"autoware_msgs"`
-	Id             uint32                       `rosname:"id"`
-	Label          string                       `rosname:"label"`
-	Score          float64                      `rosname:"score"`
-	Cloud          sensor_msgs.PointCloud2      `rosname:"cloud"`
-	MinPoint       geometry_msgs.PointStamped   `rosname:"min_point"`
-	MaxPoint       geometry_msgs.PointStamped   `rosname:"max_point"`
-	AvgPoint       geometry_msgs.PointStamped   `rosname:"avg_point"`
-	CentroidPoint  geometry_msgs.PointStamped   `rosname:"centroid_point"`
-	EstimatedAngle float64                      `rosname:"estimated_angle"`
-	Dimensions     geometry_msgs.Vector3        `rosname:"dimensions"`
-	EigenValues    geometry_msgs.Vector3        `rosname:"eigen_values"`
-	EigenVectors   []geometry_msgs.Vector3      `rosname:"eigen_vectors"`
-	FpfhDescriptor std_msgs.Float32MultiArray   `rosname:"fpfh_descriptor"`
-	BoundingBox    BoundingBox                  `rosname:"bounding_box"`
-	ConvexHull     geometry_msgs.PolygonStamped `rosname:"convex_hull"`
-	IndicatorState uint32                       `rosname:"indicator_state"`
+	Header         std_msgs.Header
+	Id             uint32
+	Label          string
+	Score          float64
+	Cloud          sensor_msgs.PointCloud2
+	MinPoint       geometry_msgs.PointStamped
+	MaxPoint       geometry_msgs.PointStamped
+	AvgPoint       geometry_msgs.PointStamped
+	CentroidPoint  geometry_msgs.PointStamped
+	EstimatedAngle float64
+	Dimensions     geometry_msgs.Vector3
+	EigenValues    geometry_msgs.Vector3
+	EigenVectors   []geometry_msgs.Vector3
+	FpfhDescriptor std_msgs.Float32MultiArray
+	BoundingBox    BoundingBox
+	ConvexHull     geometry_msgs.PolygonStamped
+	IndicatorState uint32
 }
 
 type AutowareCloudClusterArray struct {
 	msg.Package `ros:"autoware_msgs"`
-	Header      std_msgs.Header        `rosname:"header"`
-	Clusters    []AutowareCloudCluster `rosname:"clusters"`
+	Header      std_msgs.Header
+	Clusters    []AutowareCloudCluster
 }
+
 type ValueSet struct {
 	msg.Package `ros:"autoware_msgs"`
 	Center      int32 `rosname:"center"`

pjisuv_msgs/can_msgs.go

@@ -6,13 +6,12 @@ import (
 )
 
 type Frame struct {
-	msg.Package     `ros:"can_msgs"`
-	Header          std_msgs.Header `rosname:"header"`
-	Id              int16           `rosname:"id"`
-	Can103FaultFlag uint32          `rosname:"can103_fault_flag"`
-	IsRtr           bool            `rosname:"is_rtr"`
-	IsExtended      bool            `rosname:"is_extended"`
-	IsError         bool            `rosname:"is_error"`
-	Dlc             uint8           `rosname:"dlc"`
-	Data            [8]uint8        `rosname:"data"`
+	msg.Package `ros:"can_msgs"`
+	Header      std_msgs.Header
+	Id          uint32
+	IsRtr       bool
+	IsExtended  bool
+	IsError     bool
+	Dlc         uint8
+	Data        [8]uint8
 }

pjisuv_msgs/jsk_recognition_msgs.go

@@ -10,12 +10,13 @@ import (
 
 type BoundingBox struct {
 	msg.Package `ros:"jsk_recognition_msgs"`
-	Header      std_msgs.Header       `rosname:"header"`
-	Pose        geometry_msgs.Pose    `rosname:"pose"`
-	Dimensions  geometry_msgs.Vector3 `rosname:"dimensions"`
-	Value       float32               `rosname:"value"`
-	Label       uint32                `rosname:"label"`
+	Header      std_msgs.Header
+	Pose        geometry_msgs.Pose
+	Dimensions  geometry_msgs.Vector3
+	Value       float32
+	Label       uint32
 }
+
 type Accuracy struct {
 	msg.Package `ros:"jsk_recognition_msgs"`
 	Header      std_msgs.Header