增加切换状态消息 0724

同力宽体车

底层工程

增加消息：rc_ctrl_switch
msg
CMAKE

Header header 
float64 lat_error
float64 lon_error
float64 angle_error
uint8 state
uint8 Normal = 0
uint8 RequiredRC = 1
uint8 Emergency = 2

Translayer

socket_dgram.h

struct DGram_Vehicle

    int m_lat_error;
    int m_lon_error;
    int m_angle_error;

main.cpp

#include <vehicle_msgs/rc_ctrl_switch.h>
...
void switch_msg_callback(const vehicle_msgs::rc_ctrl_switch &msg);
...
ros::Subscriber subber_switch = nh.subscribe("rc_switch", 10, switch_msg_callback);
...
void switch_msg_callback(const vehicle_msgs::rc_ctrl_switch &msg)
{
    G::vehicle_dgram.m_lat_error = (int)msg.lat_error * 100;
    G::vehicle_dgram.m_lon_error = (int)msg.lon_error * 100;
    G::vehicle_dgram.m_angle_error = (int)msg.angle_error * 100;
    G::vehicle_dgram.m_ctrl_info = (short)msg.state;    
}