From 13dcfdc2b86aaac20d7c4a29c26ae9f0270214f2 Mon Sep 17 00:00:00 2001
From: siyangy <yusiyang@baidu.com>
Date: Tue, 25 Sep 2018 13:58:10 -0700
Subject: [PATCH] Dreamview, Monitor: Fix Reader creation in multiple places

---
 .../backend/sim_control/sim_control.cc         |  2 +-
 modules/monitor/software/topic_monitor.cc      | 18 ++++++++++--------
 2 files changed, 11 insertions(+), 9 deletions(-)

diff --git a/modules/dreamview/backend/sim_control/sim_control.cc b/modules/dreamview/backend/sim_control/sim_control.cc
index b3ac5650fb..be01d720f7 100644
--- a/modules/dreamview/backend/sim_control/sim_control.cc
+++ b/modules/dreamview/backend/sim_control/sim_control.cc
@@ -93,7 +93,7 @@ void SimControl::InitTimerAndIO() {
         this->OnReceiveNavigationInfo(navigation_info);
       });
   prediction_reader_ = node_->CreateReader<PredictionObstacles>(
-      FLAGS_navigation_topic,
+      FLAGS_prediction_topic,
       [this](const std::shared_ptr<PredictionObstacles>& obstacles) {
         this->OnPredictionObstacles(obstacles);
       });
diff --git a/modules/monitor/software/topic_monitor.cc b/modules/monitor/software/topic_monitor.cc
index 4b0f4c0e8b..30a8baee5e 100644
--- a/modules/monitor/software/topic_monitor.cc
+++ b/modules/monitor/software/topic_monitor.cc
@@ -36,19 +36,20 @@ namespace apollo {
 namespace monitor {
 
 std::shared_ptr<cybertron::ReaderBase> TopicMonitor::CreateReaderFromChannel(
-    const std::string& channel) {
+    const std::string &channel) {
   if (channel == FLAGS_control_command_topic) {
     return MonitorManager::CreateReader<apollo::control::ControlCommand>(
         FLAGS_control_command_topic);
   } else if (channel == FLAGS_localization_topic) {
-    return MonitorManager::CreateReader<apollo::localization::Pose>(
-        FLAGS_localization_topic);
+    return MonitorManager::CreateReader<
+        apollo::localization::LocalizationEstimate>(FLAGS_localization_topic);
   } else if (channel == FLAGS_perception_obstacle_topic) {
-    return MonitorManager::CreateReader<apollo::perception::PerceptionObstacle>(
+    return MonitorManager::CreateReader<
+        apollo::perception::PerceptionObstacles>(
         FLAGS_perception_obstacle_topic);
   } else if (channel == FLAGS_prediction_topic) {
-    return MonitorManager::CreateReader<apollo::prediction::PredictionObstacle>(
-        FLAGS_prediction_topic);
+    return MonitorManager::CreateReader<
+        apollo::prediction::PredictionObstacles>(FLAGS_prediction_topic);
   } else if (channel == FLAGS_planning_trajectory_topic) {
     return MonitorManager::CreateReader<apollo::planning::ADCTrajectory>(
         FLAGS_planning_trajectory_topic);
@@ -64,8 +65,9 @@ std::shared_ptr<cybertron::ReaderBase> TopicMonitor::CreateReaderFromChannel(
 }
 
 TopicMonitor::TopicMonitor(const TopicConf &config, TopicStatus *status)
-    : RecurrentRunner(FLAGS_topic_monitor_name, FLAGS_topic_monitor_interval)
-    , config_(config), status_(status) {
+    : RecurrentRunner(FLAGS_topic_monitor_name, FLAGS_topic_monitor_interval),
+      config_(config),
+      status_(status) {
   reader_ = CreateReaderFromChannel(config.channel());
 }
 
-- 
GitLab