Merge pull request RoboSense-LiDAR#2 from DUT-Racing/enhance/add-oran…

…ge-cone-marker feat(sim): add orange cone marker for cv cones
DUT-Racing · Oct 17, 2021 · 7553a37 · 7553a37
2 parents c360ce1 + 5c2386b
commit 7553a37
Showing 1 changed file with 7 additions and 3 deletions.
diff --git a/src/simulation/simulator/src/sim_viz.cpp b/src/simulation/simulator/src/sim_viz.cpp
@@ -292,12 +292,12 @@ void SimViz::addConeMarker(const rclcpp::Time &time, const sim_msgs::msg::TrackO
 
     } else if (track_object.object_type == sim_msgs::msg::TrackObject::ORANGE) {
         marker.color.r = 1.0;
-        marker.color.g = static_cast<float>(165.0 / 255.0);
+        marker.color.g = 0.647;
         marker.color.b = 0.0;
         marker.mesh_resource = "package://simulator/meshes/track/cone_orange.dae";
     } else if (track_object.object_type == sim_msgs::msg::TrackObject::BIG_ORANGE) {
         marker.color.r = 1.0;
-        marker.color.g = static_cast<float>(165.0 / 255.0);
+        marker.color.g = 0.647;
         marker.color.b = 0.0;
         marker.mesh_resource = "package://simulator/meshes/track/cone_orange_big.dae";
     } else if (track_object.object_type == sim_msgs::msg::TrackObject::TK_DEVICE) {
@@ -340,8 +340,12 @@ void SimViz::addWorldStateMarker(const cv_msgs::msg::Cone &cone, u_int32_t id, v
         marker.color.r = 1.0;
         marker.color.g = 1.0;
         marker.color.b = 0.0;
-    } else {
+    } else if (cone_type == cv_msgs::msg::Cone::ORANGE) {
         marker.color.r = 1.0;
+        marker.color.g = 0.647;
+        marker.color.b = 0.0;
+    } else {
+        marker.color.r = 0.0;
         marker.color.g = 0.0;
         marker.color.b = 0.0;
     }