fix perception topic name and publish by pb directly.

modules/tools/diagnostics/meta.data

@@ -5,6 +5,7 @@ CONTROL control_cmd_pb2.ControlCommand() /apollo/control 10
 LOCALIZATION localization_pb2.LocalizationEstimate() /apollo/localization/pose 10
 MONITOR monitor_pb2.MonitorMessage() /apollo/monitor 10
 PLANNING planning_pb2.ADCTrajectory() /apollo/planning 200
+PERCEPTION perception_obstacle_pb2.PerceptionObstacles() /apollo/perception/obstacles 200
 Pad pad_msg_pb2.PadMessage() /apollo/control/pad 500
 Odometry gps_pb2.Gps() /apollo/sensor/gnss/odometry 10
 IMU imu_pb2.Imu() /apollo/sensor/gnss/corrected_imu 10

modules/tools/perception/replay_perception.py

@@ -217,9 +217,7 @@ def perception_publisher(perception_topic, files, period):
     while not rospy.is_shutdown():
         perception = generate_perception(perception_description, perception)
         print str(perception)
-        s = String()
-        s.data = perception.SerializeToString()
-        pub.publish(s)
+        pub.publish(perception)
         rate.sleep()
 
 
@@ -228,7 +226,7 @@ if __name__ == '__main__':
             prog="replay_perception.py")
     parser.add_argument("files", action="store", type=str, nargs="*",
             help="obstacle description files")
-    parser.add_argument("-t", "--topic", action="store", type=str, default="/perception/obstacles",
+    parser.add_argument("-t", "--topic", action="store", type=str, default="/apollo/perception/obstacles",
             help="set the perception topic")
     parser.add_argument("-p", "--period", action="store", type=float, default=0.1,
             help="set the perception topic publish time duration")