change pilottoros, test pure_pursuit ok.

src/ros/catkin/README.md

@@ -0,0 +1,9 @@
+# catkin 编译说明
+
+## 1 编译autoware_msgs
+首先使用catkin_make --pkg autoware_msgs编译autoware_msgs。
+
+## 2 编译所有文件
+使用catkin_make 编译。
+
+

src/ros/catkin/src/pilottoros/package.xml

@@ -57,6 +57,9 @@
   <build_depend>pcl_conversions</build_depend>
   <run_depend>pcl_conversions</run_depend>
 
+    <build_depend>autoware_msgs</build_depend>
+  <run_depend>autoware_msgs</run_depend>
+
 
 
   <!-- The export tag contains other, unspecified, tags -->

src/ros/catkin/src/pilottoros/src/main.cpp

@@ -166,8 +166,10 @@ void Listenodom(const char * strdata,const unsigned int nSize,const unsigned int
 
 
     geometry_msgs::PoseStamped  xPose;
+    xPose.header.frame_id = "/map";
     xPose.pose = msg.pose.pose;
     geometry_msgs::TwistStamped xtwist;
+     xtwist.header.frame_id = "/map";
     xtwist.twist = msg.twist.twist;
 
 std::cout<<" listen odom."<<std::endl;
@@ -280,6 +282,9 @@ void ListenWayPointsMap(const char * strdata,const unsigned int nSize,const unsi
 
     if(_use_pilot_waypoints)
     {
+        
+         xlane.header.frame_id = "/map";
+         
         waypoints_pub.publish(xlane);
     }
 

src/ros/catkin/src/rostopilot/package.xml

@@ -57,6 +57,9 @@
   <build_depend>pcl_conversions</build_depend>
   <run_depend>pcl_conversions</run_depend>
 
+      <build_depend>autoware_msgs</build_depend>
+  <run_depend>autoware_msgs</run_depend>
+
 
 
   <!-- The export tag contains other, unspecified, tags -->