#ifndef ARS_RADAR_H_
#define ARS_RADAR_H_
#include <ros/ros.h>
#include <string>
#include <vector>
#include <thread>
//#include"gps_
msgs/gpsUtm.h"
#include <can_
msgs/Object.h>
#include <can_
msgs/ObjectArray.h>
#include <can_
msgs/FrameArray.h>
#include <
jsk_
recognition_
msgs/BoundingBox.h>
#include <
jsk_
recognition_
msgs/
BoundingBoxArray.h>
#include <pcl/point_cloud.h>
#include <pcl_conversions/pcl_conversions.h>
#include <sensor_
msgs/PointCloud2.h>
#include <diagnostic_
msgs/DiagnosticStatus.h>
#include <cmath>
#include <unordered_map>
class ArsRadar
{
public:
ArsRadar();
~ArsRadar(){
pthread_rwlock_destroy(&egoSpeedLock);
pthread_rwlock_destroy(&countLock);
};
bool init();
void run();
private:
void sendMsgToArs(const ros::TimerEvent&);
void configArs(const ros::TimerEvent&);
void canMsg_callback(const can_
msgs::FrameArray::ConstPtr& msg);
//void gps_callback(const gps_
msgs::gpsUtm::ConstPtr& msg);
void parse_msg(const can_
msgs::Frame &frame, int index, int n);
void pub
BoundingBoxArray();
enum Cluster_DynProp
{
Target_Move = 0, //移动
Target_Static = 1, //静止
Target_Come = 2, //来向
Target_May_Static = 3, //可能静止
Target_Unknow = 4, //未知
Target_Across = 5, //横穿
Target_Across_Static = 6, //横穿静止
Target_Stop = 7 //停止
};
typedef struct _Info
{
std::string type;
uint8_t r;
uint8_t g;
uint8_t b;
_Info(const std::string& t, uint8_t _r, uint8_t _g, uint8_t _b)
{
type = t;
r = _r;
g = _g;
b = _b;
}
}Info;
std::vector<Info> Infos;
private:
ros::Subscriber sub_can_; // 订阅can分析仪消息
ros::Subscriber sub_gps_;
ros::Publisher pub_can_; // 向can分析仪发布消息
ros::Publisher pub_can_config; // 向can分析仪发布配置消息
ros::Publisher pub_object_; // 发布离我最近的障碍物消息
ros::Publisher pub_objects_; // 发布所有障碍物消息
ros::Publisher pub_cloud_; // 发布点云消息
pcl::PointCloud<pcl::PointXYZRGB> cloud;
pcl::PointXYZRGB point;
sensor_
msgs::PointCloud2 output;
std::string from_can_topic_;
std::string to_can_topic_;
std::string gpsUtm_topic;
can_
msgs::ObjectArray ars_objects_;
can_
msgs::Object ars_object_;
can_
msgs::Object ars_object_car;
bool is_sendMsgToArs_;
ros::Timer timer_1, timer_2;
std::unordered_map<int, int> MapObjectId2indexInObjectArray;
double egoSpeed; // m/s
double yawRate; // deg/s
pthread_rwlock_t egoSpeedLock, countLock;
int readCount;
};
#endif
跟据以上代码推出gps_
msgs/gpsUtm.h的头文件代码
这篇博客详细介绍了ROS中`jsk_recognition_msgs/BoundingBoxArrayMessage`的消息类型，它是用于表示一组边界框的数据结构。`BoundingBoxArray`包含一个`Header`和一个`BoundingBox`数组，方便在rviz中进行可视化。这个消息类型在机器人定位、目标检测等领域有着广泛应用。
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