feat(add_perception_objects_pointcloud_publisher) update add_pointcloud

Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>

Author: lexavtanke

common/autoware_auto_perception_rviz_plugin/include/object_detection/object_polygon_display_base.hpp

@@ -207,12 +207,16 @@ class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC ObjectPolygonDisplayBase
     m_marker_common.load(config);
   }
 
-  void update(float wall_dt, float ros_dt) override { m_marker_common.update(wall_dt, ros_dt); }
+  void update(float wall_dt, float ros_dt) override 
+  { m_marker_common.update(wall_dt, ros_dt); 
+    point_cloud_common_->update(wall_dt, ros_dt);
+  }
 
   void reset() override
   {
     RosTopicDisplay::reset();
     m_marker_common.clearMarkers();
+    point_cloud_common_->reset();
   }
 
   void clear_markers() { m_marker_common.clearMarkers(); }
@@ -227,6 +231,11 @@ class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC ObjectPolygonDisplayBase
     m_marker_common.addMessage(markers_ptr);
   }
 
+  void add_pointcloud(const sensor_msgs::msg::PointCloud2::ConstSharedPtr cloud) 
+  {
+    point_cloud_common_->addMessage(cloud);
+  }
+
   // transform detected object pose to target frame and return bool result
   bool transformObjects(
     const MsgT & input_msg, const std::string & target_frame_id, const tf2_ros::Buffer & tf_buffer,

common/autoware_auto_perception_rviz_plugin/src/object_detection/detected_objects_display.cpp

@@ -173,7 +173,8 @@ void DetectedObjectsDisplay::onObjectsAndObstaclePointCloud(
   output_pointcloud_msg_ptr->header = input_pointcloud_msg->header;
 
   // publisher->publish(*output_pointcloud_msg_ptr);
-  point_cloud_common_->addMessage(output_pointcloud_msg_ptr);
+  // point_cloud_common_->addMessage(output_pointcloud_mbsg_ptr);
+  add_pointcloud(output_pointcloud_msg_ptr);
 }
 
 }  // namespace object_detection

common/autoware_auto_perception_rviz_plugin/src/object_detection/predicted_objects_display.cpp

@@ -327,7 +327,7 @@ void PredictedObjectsDisplay::onObjectsAndObstaclePointCloud(
   output_pointcloud_msg_ptr->header = input_pointcloud_msg->header;
 
   // publisher->publish(*output_pointcloud_msg_ptr);
-  point_cloud_common_->addMessage(output_pointcloud_msg_ptr);
+  add_pointcloud(output_pointcloud_msg_ptr);
 }
 
 }  // namespace object_detection

common/autoware_auto_perception_rviz_plugin/src/object_detection/tracked_objects_display.cpp

@@ -213,7 +213,8 @@ void TrackedObjectsDisplay::onObjectsAndObstaclePointCloud(
   output_pointcloud_msg_ptr->header = input_pointcloud_msg->header;
 
   // publisher->publish(*output_pointcloud_msg_ptr);
-  point_cloud_common_->addMessage(output_pointcloud_msg_ptr);
+  // point_cloud_common_->addMessage(output_pointcloud_msg_ptr);
+  add_pointcloud(output_pointcloud_msg_ptr);
 }
 
 }  // namespace object_detection