fix:Add a little note and change the default IP address

Author: KingRichord

demo/zmq_demo/main_zmq.cpp

@@ -6,11 +6,9 @@
 #include "udp_manager.h"
 #include "cam_manager.h"
 #include "data_manager.h"
-
-#include "mvt_msg_imu.pb.h"
-#include "mvt_msg_image.pb.h"
-
 #include "zmq.hpp"
+#include "msg_imu.pb.h"
+#include "msg_image.pb.h"
 
 void Pub(zmq::socket_t *pub, const std::string &topic, const std::string &metadata) {
   zmq::message_t topic_msg(topic.size());
@@ -44,7 +42,7 @@ int main() {
   ImuData imu_data{};
   while (zmq_publisher.connected()) {
     while (DataManger::GetInstance().GetNewImuData(imu_data)) {
-      auto imu = std::make_shared<mvt::protocol::Imu>();
+      auto imu = std::make_shared<protocol::Imu>();
       imu->mutable_header()->set_stamp(imu_data.time_stamp_us * 1000);
       imu->mutable_header()->set_sensor_name("imu");
       imu->add_angular_velocity(imu_data.gx);
@@ -57,7 +55,7 @@ int main() {
       auto serialized_msg = imu->SerializeAsString();
       Pub(&zmq_publisher, "imu", serialized_msg);
     }
-    mvt::protocol::Image image;
+    protocol::Image image;
     ImgData image_data{};
     for (auto &cam : all_cam_names) {
       while (DataManger::GetInstance().GetNewCamData(cam, image_data)) {
@@ -67,7 +65,7 @@ int main() {
         image.mutable_header()->set_stamp(image_data.time_stamp_us * 1000);
         image.mutable_header()->set_sensor_name(cam);
         image.set_name(cam);
-        mvt::protocol::Mat mat;
+        protocol::Mat mat;
         mat.set_rows(image_data.image.rows);
         mat.set_cols(image_data.image.cols);
         mat.set_channels(image_data.image.channels());

…/zmq_demo/proto_msg/mvt_msg_header.proto demo/zmq_demo/proto_msg/msg_header.protodemo/zmq_demo/proto_msg/mvt_msg_header.proto renamed to demo/zmq_demo/proto_msg/msg_header.proto demo/zmq_demo/proto_msg/mvt_msg_header.proto renamed to demo/zmq_demo/proto_msg/msg_header.proto

@@ -1,10 +1,9 @@
 syntax = "proto3";
-package mvt.protocol;
+package protocol;
 
-message DataHeader {
+message Header {
   int64 stamp = 1; // 传感器时间，单位ns
   uint32 seq = 2;
   string frame_id = 3;
   string sensor_name = 4;
-  int64 time = 5;  // 计数器时间，单位ns
 }

…o/zmq_demo/proto_msg/mvt_msg_image.proto demo/zmq_demo/proto_msg/msg_image.protodemo/zmq_demo/proto_msg/mvt_msg_image.proto renamed to demo/zmq_demo/proto_msg/msg_image.proto demo/zmq_demo/proto_msg/mvt_msg_image.proto renamed to demo/zmq_demo/proto_msg/msg_image.proto

@@ -1,6 +1,6 @@
 syntax = "proto3";
-package mvt.protocol;
-import "mvt_msg_header.proto";
+package protocol;
+import "msg_header.proto";
 
 
 message Mat {
@@ -13,7 +13,7 @@ message Mat {
 }
 
 message Image {
-  DataHeader header = 1;
+  Header header = 1;
   string name = 2;
   Mat mat = 3;
 }

demo/zmq_demo/proto_msg/mvt_msg_imu.proto demo/zmq_demo/proto_msg/msg_imu.protodemo/zmq_demo/proto_msg/mvt_msg_imu.proto renamed to demo/zmq_demo/proto_msg/msg_imu.proto

@@ -1,6 +1,6 @@
 syntax = "proto3";
-package mvt.protocol;
-import "mvt_msg_header.proto";
+package protocol;
+import "msg_header.proto";
 
 message Quaternion {
   double x = 1;
@@ -9,7 +9,7 @@ message Quaternion {
   double w = 4;
 }
 message Imu {
-  DataHeader header = 1;
+  Header header = 1;
   repeated double angular_velocity = 2;
   repeated double linear_acceleration = 3;
   Quaternion orientation = 4;