Merge pull request #1 from ZhuChaozheng/patch-2

Update odomPub.hpp

src/global_vision/include/global_vision/odomPub.hpp

@@ -1,7 +1,7 @@
 /*
  * @Author: Chaozheng Zhu && Loren
  * @Date: 2022-05-07 09:33:11
- * @LastEditTime: 2022-05-17 17:09:58
+ * @LastEditTime: 2022-06-26 21:01:51
  * @FilePath:
  * /kk-robot-swarm/src/global_vision/include/global_vision/odomPub.hpp
  * @Description:
@@ -85,6 +85,19 @@ class odomPub {
     return tf_base;
   }
 
+  /**
+   * \brief: Creates /robot_x/base_link tf frame. x is car's id.
+   * \param: {int mark: Car's id.}
+   * \return: {std::string: /robot_x/base_link tf frame}
+   */
+  std::string tagNameGenerate(int mark) {
+    std::string front_str = "/tag_";
+    std::stringstream ss_base;
+    ss_base << front_str << mark;
+    std::string tf_base = ss_base.str();
+    return tf_base;
+  }
+
   /**
    * \brief: Creates /robot_x/pose topic. x is car's id.
    * \param: {int mark: Car's id.}
@@ -108,4 +121,4 @@ class odomPub {
     if (yaw < 0) yaw = yaw + 2 * 3.1415926;
     return 180 * yaw / 3.1415926;
   }
-};
+};