add header

src/camera_bev_infer/src/sensor_manager.cpp

@@ -5,7 +5,7 @@
  * @Date: 2023-09-03 02:18:07
  * @email: xin.wang@waytous.com
  * @LastEditors: yangxue xue.yang@waytous.com
- * @LastEditTime: 2025-04-07 08:57:20
+ * @LastEditTime: 2025-04-08 03:22:23
  */
 
 
@@ -184,6 +184,9 @@ void sensorManager::publishDetection()
 
         waytous_perception_msgs::ObjectArray obFrame;
         waytous_perception_msgs::ObjectTrackArray obTrackFrame;
+        obTrackFrame.header = frame_ptr->sensor_header;
+        obTrackFrame.header.frame_id = infer_param.vis_frame_id;
+        // obTrackFrame.header.stamp = ros::Time(frame_ptr->timestamp_);
 
         int8_t obj_id = 0;
         for(auto& obj: vGrid->vInsObjs)
@@ -194,6 +197,8 @@ void sensorManager::publishDetection()
             }
             waytous_perception_msgs::Object ob;
             waytous_perception_msgs::ObjectTrack obTrack;
+            obTrack.header.frame_id = obTrackFrame.header.frame_id;
+            obTrack.header.stamp = obTrackFrame.header.stamp;
 
             ob.sensor_type = waytous_perception_msgs::Object::SENSOR_CAMERA;
             obTrack.msgname = "camera";
@@ -239,6 +244,9 @@ void sensorManager::publishDetection()
             ob.dimensions.z = 1;
 
             // jsk_recognition_msgs/BoundingBox
+            obTrack.bounding_box.header = obTrackFrame.header;
+            obTrack.bounding_box.header.frame_id = obTrackFrame.header.frame_id;
+            obTrack.bounding_box.header.stamp = obTrackFrame.header.stamp;
             obTrack.bounding_box.pose = ob.pose;
             obTrack.bounding_box.dimensions = ob.dimensions;