this is my msg file:
**point msg: trajectory_point.msg**
# time information
Header header
# the perception object id
int32 object_id
# x,y donates the position of the object
float64 x
float64 y
float64 theta
float64 velocity
**point array msg:trajectory.msg**
# time information
Header header
# trajectory points
trajectory_point[] trajectory
the following is my code :
// init publiser,the msg publisher rate depends on perception rate from wenbo.
_pub_trajectory_point = _nh.advertise("/trajectory_point",10);
_pub_trajectory = _nh.advertise("/obstacle_trajectory",10);
for loop ten times {
if(_is_need_pub_msg){
_trajectory_point_msg.header.frame_id = "/base_link";
_trajectory_point_msg.header.stamp = ros::Time();
_trajectory_point_msg.x = x_expr;
_trajectory_point_msg.y = y_expr;
_trajectory_point_msg.velocity = velocity_expr;
_trajectory_point_msg.theta = theta_expr;
_pub_trajectory_point.publish(_trajectory_point_msg);
_trajectory_msg.trajectory.push_back(_trajectory_point_msg);
}
}
if(_is_need_pub_msg){
ROS_INFO_STREAM("Trajectory Generation Begins:========frame_id========"
<< _trajectory_msg.trajectory[0].header.frame_id
<< "====x===="
<< _trajectory_msg.trajectory[0].x);
//ros::message_operations::Printer(_trajectory_msg);
_trajectory_msg.header.frame_id = "/base_link";
_trajectory_msg.header.stamp = ros::Time();
_pub_trajectory.publish(_trajectory_msg);
}
**Then I run
`rostopic echo /trajectory_point` the result is normal,and there are many message.
but when i run
`rostopic echo /obstacle_trajectory` : the result is empty ,and there is no any error infromation** .
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