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add latency_log_file

This commit is contained in:
Yu Asabe 2022-07-21 09:12:24 +09:00
parent ea5a8a3431
commit 3dc4cd119d
1 changed files with 4 additions and 1 deletions
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5
include/autoware_v2x/v2x_node.hpp
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@ -14,6 +14,7 @@
#include "autoware_v2x/positioning.hpp" #include "autoware_v2x/positioning.hpp"
#include "autoware_v2x/security.hpp" #include "autoware_v2x/security.hpp"
#include "autoware_v2x/router_context.hpp" #include "autoware_v2x/router_context.hpp"
#include <fstream>
namespace v2x namespace v2x
{ {
@ -22,9 +23,11 @@ namespace v2x
public: public:
explicit V2XNode(const rclcpp::NodeOptions &node_options); explicit V2XNode(const rclcpp::NodeOptions &node_options);
V2XApp *app; V2XApp *app;
void publishObjects(std::vector<CpmApplication::Object> *); void publishObjects(std::vector<CpmApplication::Object> *, int cpm_num);
void publishCpmSenderObject(double, double, double); void publishCpmSenderObject(double, double, double);
std::ofstream latency_log_file;
private: private:
void objectsCallback(const autoware_auto_perception_msgs::msg::PredictedObjects::ConstSharedPtr msg); void objectsCallback(const autoware_auto_perception_msgs::msg::PredictedObjects::ConstSharedPtr msg);
void tfCallback(const tf2_msgs::msg::TFMessage::ConstSharedPtr msg); void tfCallback(const tf2_msgs::msg::TFMessage::ConstSharedPtr msg);