change pilot_autoware_bridge for autoware. not complete.

src/ros2/src/pilot_autoware_bridge/src/pilot_autoware_bridge_core.cpp

@@ -66,7 +66,9 @@ pilot_autoware_bridge::pilot_autoware_bridge() : Node("pilot_autoware_bridge")
 
     pointcloud_pub_ = this->create_publisher<sensor_msgs::msg::PointCloud2>("/perception/obstacle_segmentation/pointcloud", durable_qos);
 
-    detected_object_with_feature_pub_ = create_publisher<tier4_perception_msgs::msg::DetectedObjectsWithFeature>("/perception/object_recognition/detection/labeled_clusters", durable_qos);
+    
+ //   detected_object_with_feature_pub_ = create_publisher<tier4_perception_msgs::msg::DetectedObjectsWithFeature>("/perception/object_recognition/detection/labeled_clusters", durable_qos);
+    detected_object_with_feature_pub_ = create_publisher<tier4_perception_msgs::msg::DetectedObjectsWithFeature>("/perception/object_recognition/detection/objects_with_feature", durable_qos);
     pub_odom_ = create_publisher<Odometry>("/localization/kinematic_state", durable_qos);
     pub_tf_ = create_publisher<tf2_msgs::msg::TFMessage>("/tf", durable_qos);
 
@@ -733,7 +735,9 @@ void pilot_autoware_bridge::ConvertObjAndPub(iv::lidar::objectarray * pobjarray)
 
         pose.pose.position.set__x(pobj->position().x());
         pose.pose.position.set__y(pobj->position().y());
-        pose.pose.position.set__z(pobj->position().z());
+        pose.pose.position.set__x(pobj->position().y());
+        pose.pose.position.set__y(pobj->position().x() *(-1.0));
+        pose.pose.position.set__z(pobj->position().z() * 0.0);
 
         double pitch,roll,yaw;
         pitch = 0;

src/tool/simple_planning_simulator/simmodel.cpp

@@ -232,6 +232,7 @@ void simmodel::threadstate()
                 iv::lidar::PointXYZ * plx;
                 plx = xlidarobj.mutable_centroid();
                 plx->CopyFrom(xpos);
+                xlidarobj.mutable_position()->CopyFrom(xpos);
 
                 iv::lidar::Dimension ld;
                 iv::lidar::Dimension * pld;