Added prediction publishing message header (#167)

* Updated pedestrian predictor

* Added publish prediction header

modules/prediction/prediction.cc

@@ -116,8 +116,12 @@ void Prediction::OnPerception(const PerceptionObstacles &perception_obstacles) {
   obstacles_container->Insert(perception_obstacles);
   EvaluatorManager::instance()->Run(perception_obstacles);
   PredictorManager::instance()->Run(perception_obstacles);
-  const PredictionObstacles& prediction_obstacles =
-      PredictorManager::instance()->prediction_obstacles();
+
+  PredictionObstacles prediction_obstacles;
+  prediction_obstacles.CopyFrom(
+      PredictorManager::instance()->prediction_obstacles());
+  AdapterManager::FillPredictionHeader(
+      Name(), prediction_obstacles.mutable_header());
   AdapterManager::PublishPrediction(prediction_obstacles);
   ADEBUG << "Published a prediction message ["
          << prediction_obstacles.ShortDebugString() << "].";

modules/prediction/predictor/predictor_manager.cc

@@ -78,7 +78,7 @@ void PredictorManager::Run(
         break;
       }
       case PerceptionObstacle::PEDESTRIAN: {
-        predictor = GetPredictor(ObstacleConf::FREE_MOVE_PREDICTOR);
+        predictor = GetPredictor(ObstacleConf::REGIONAL_PREDICTOR);
         break;
       }
       default: {