修复路径上传vid为空bug

src/autonomy/route/src/route_node.cpp

@@ -16,6 +16,7 @@
 #include "rclcpp/rclcpp.hpp"
 #include "sweeper_interfaces/msg/rtk.hpp"
 #include "sweeper_interfaces/msg/sub.hpp"
+#include "sweeper_interfaces/msg/vehicle_identity.hpp"
 
 std::mutex collect_mutex;  // 互斥锁，用于保护 isCollecting 变量
 
@@ -113,6 +114,11 @@ class route_node : public rclcpp::Node
 
         msg_subscribe_ = this->create_subscription<sweeper_interfaces::msg::Rtk>(
             "rtk_message", 10, std::bind(&route_node::msg_callback, this, std::placeholders::_1));
+
+        // identity（transient_local，确保晚启动也能拿到）
+        identity_sub_ = this->create_subscription<sweeper_interfaces::msg::VehicleIdentity>(
+            "/vehicle/identity", rclcpp::QoS(1).transient_local().reliable(),
+            std::bind(&route_node::identityCallback, this, std::placeholders::_1));
     }
 
    private:
@@ -170,9 +176,17 @@ class route_node : public rclcpp::Node
             }
         }
     }
+    void identityCallback(const sweeper_interfaces::msg::VehicleIdentity::SharedPtr msg)
+    {
+        vid = msg->vid;
+
+        LOG_INFO("Identity: VID=%s", msg->vid.c_str());
+    }
+
     // 声明订阅者
     rclcpp::Subscription<sweeper_interfaces::msg::Sub>::SharedPtr sub_subscribe_;
     rclcpp::Subscription<sweeper_interfaces::msg::Rtk>::SharedPtr msg_subscribe_;
+    rclcpp::Subscription<sweeper_interfaces::msg::VehicleIdentity>::SharedPtr identity_sub_;
 };
 
 double ntzx_GPS_length(double lonti1, double lati1, double lonti2, double lati2)
@@ -229,9 +243,7 @@ void init_main()
     }
     if (reader.parse(in, root))
     {
-        vid = root["mqtt"]["vid"].asString();
         upload_URL = root["mqtt"]["upload_url"].asString();
-        LOG_INFO("vid:%s", vid.c_str());
     }
     in.close();  // 关闭文件流
 }