add yolo + mot cpp into driver

include/cloud_reprojection_ros_node.hpp

@@ -15,10 +15,13 @@ limitations under the License.
 
 #ifdef ROS2
     #include <rclcpp/rclcpp.hpp>
+    #include <geometry_msgs/msg/point_stamped.hpp>
     #include <sensor_msgs/msg/point_cloud2.hpp>
     #include <sensor_msgs/msg/image.hpp>
     #include <sensor_msgs/msg/compressed_image.hpp>
     #include <nav_msgs/msg/odometry.hpp>
+    #include <std_msgs/msg/float32_multi_array.hpp>
+    #include <std_msgs/msg/int32.hpp>
     #include <cv_bridge/cv_bridge.h>
     #include <message_filters/subscriber.h>
     #include <message_filters/sync_policies/approximate_time.h>
@@ -42,6 +45,10 @@ limitations under the License.
 #include <string>
 #include <memory>
 
+#ifdef ODIN_ROS_DRIVER_HAS_TARGET_OBSERVATION
+#include "target_observation_processing.hpp"
+#endif
+
 #ifdef ROS2
 class CloudReprojectionRosNode : public rclcpp::Node
 {
@@ -80,6 +87,10 @@ private:
     std::string sync_wiwc_topic_;
     std::string sync_image_topic_;
     std::string sync_overlay_image_topic_;
+    std::string sync_target_track_id_topic_;
+    std::string sync_target_observation_topic_;
+    std::string sync_target_pos_cam_topic_;
+    std::string sync_target_pos_world_topic_;
 
     rclcpp::Publisher<PointCloud2>::SharedPtr sync_cloud_pub_;
     rclcpp::Publisher<PointCloud2>::SharedPtr sync_cloud_slam_pub_;
@@ -89,8 +100,17 @@ private:
 
     rclcpp::Publisher<CompressedImage>::SharedPtr overlay_compressed_pub_;  // optional if send_overlay_
     rclcpp::Publisher<CompressedImage>::SharedPtr combined_pub_;  // optional if publish_combined_compressed_
+    rclcpp::Publisher<std_msgs::msg::Int32>::SharedPtr target_track_id_pub_;
+    rclcpp::Publisher<std_msgs::msg::Float32MultiArray>::SharedPtr target_observation_pub_;
+    rclcpp::Publisher<geometry_msgs::msg::PointStamped>::SharedPtr target_pos_cam_pub_;
+    rclcpp::Publisher<geometry_msgs::msg::PointStamped>::SharedPtr target_pos_world_pub_;
 
     std::unique_ptr<CloudReprojector> reprojector_;
+#ifdef ODIN_ROS_DRIVER_HAS_TARGET_OBSERVATION
+    std::unique_ptr<odin_ros_driver::TargetObservationProcessor> target_observation_processor_;
+    bool enable_target_observation_ = false;
+    bool debug_target_observation_ = false;
+#endif
 
     void loadParameters();
     void syncCallback(const PointCloud2::ConstSharedPtr& cloud_msg,