编译报错如下：CMakeFiles/t3_node.dir/src/main.cpp.o: In function `boost::asio::ssl::detail::openssl_init_base::do_init::~do_init()': main.cpp:(.text._ZN5boost4asio3ssl6detail17openssl_init_base7do_initD2Ev[_ZN5boost4asio3ssl6detail17openssl_init_base7do_initD5Ev]+0x12): undefined reference to `CONF_modules_unload' CMakeFiles/t3_node.dir/src/main.cpp.o: In function `boost::asio::error::detail::ssl_category::message[abi:cxx11](int) const': main.cpp:(.text._ZNK5boost4asio5error6detail12ssl_category7messageB5cxx11Ei[_ZNK5boost4asio5error6detail12ssl_category7messageB5cxx11Ei]+0x2c): undefined reference to `ERR_reason_error_string' main.cpp:(.text._ZNK5boost4asio5error6detail12ssl_category7messageB5cxx11Ei[_ZNK5boost4asio5error6detail12ssl_category7messageB5cxx11Ei]+0x48): undefined reference to `ERR_lib_error_string' main.cpp:(.text._ZNK5boost4asio5error6detail12ssl_category7messageB5cxx11Ei[_ZNK5boost4asio5error6detail12ssl_category7messageB5cxx11Ei]+0x59): undefined reference to `ERR_func_error_string' collect2: error: ld returned 1 exit status t3/CMakeFiles/t3_node.dir/build.make:318: recipe for target '/smartview/devel/lib/t3/t3_node' failed make[2]: *** [/smartview/devel/lib/t3/t3_node] Error 1 CMakeFiles/Makefile2:3555: recipe for target 't3/CMakeFiles/t3_node.dir/all' failed make[1]: *** [t3/CMakeFiles/t3_node.dir/all] Error 2 make[1]: *** Waiting for unfinished jobs.... [ 96%] Built target play_node [100%] Built target smartview_handler Makefile:145: recipe for target 'all' failed make: *** [all] Error 2 Invoking "make -j20 -l20" failed

您可以使用以下代码实现发送 `serialized_data` 到 `wss://autopilot-test.t3go.cn:443/api/v1/vehicle/push/message/LFB1FV696M2L43840`： ```cpp #include "ros/ros.h" #include "std_msgs/String.h" #include <boost/thread/locks.hpp> #include <boost/thread/shared_mutex.hpp> #include "third_party/apollo/proto/perception/perception_obstacle.pb.h" #include "t3_perception.pb.h" #include "websocketpp/config/asio_client.hpp" #include "websocketpp/client.hpp" using websocketpp::lib::placeholders::_1; using websocketpp::lib::placeholders::_2; using websocketpp::lib::bind; typedef websocketpp::client<websocketpp::config::asio_tls_client> client; typedef boost::shared_ptr<boost::asio::ssl::context> context_ptr; context_ptr on_tls_init(websocketpp::connection_hdl) { context_ptr ctx = boost::make_shared<boost::asio::ssl::context>(boost::asio::ssl::context::tlsv12); try { ctx->set_options(boost::asio::ssl::context::default_workarounds | boost::asio::ssl::context::no_sslv2 | boost::asio::ssl::context::no_sslv3 | boost::asio::ssl::context::single_dh_use); } catch (std::exception& e) { std::cout << e.what() << std::endl; } return ctx; } void on_open(client* c, websocketpp::connection_hdl hdl) { std::string message = "Hello, world!"; try { c->send(hdl, message, websocketpp::frame::opcode::text); } catch (websocketpp::exception const & e) { std::cout << e.what() << std::endl; } } void on_fail(client* c, websocketpp::connection_hdl hdl) { client::connection_ptr con = c->get_con_from_hdl(hdl); std::cout << "Connection to " << con->get_uri() << " failed: " << con->get_ec().message() << std::endl; } void on_message(websocketpp::connection_hdl hdl, client::message_ptr msg) { std::cout << "Received message: " << msg->get_payload() << std::endl; } void perceptionCallback(const std_msgs::String& msg) { ROS_WARN("t3 perceptionCallback parse"); apollo::perception::PerceptionObstacles perception_obstacles_; if (perception_obstacles_.ParseFromString(msg.data)) { double timestamp = perception_obstacles_.header().timestamp_sec(); ROS_INFO("t3 perceptionCallback timestamp %f count:%d", timestamp, perception_obstacles_.perception_obstacle().size()); std::string data; perception_obstacles_.SerializeToString(&data); VehData veh_data; veh_data.set_messagetype(5); veh_data.set_messagedes("PerceptionObstacles"); veh_data.set_contents(data); std::string serialized_data; veh_data.SerializeToString(&serialized_data); // 创建 websocket 客户端 client c; std::string uri = "wss://autopilot-test.t3go.cn:443/api/v1/vehicle/push/message/LFB1FV696M2L43840"; try { // 设置 TLS 初始化回调函数 c.set_tls_init_handler(bind(&on_tls_init, ::_1)); // 设置回调函数 c.set_open_handler(bind(&on_open, &c, ::_1)); c.set_fail_handler(bind(&on_fail, &c, ::_1)); c.set_message_handler(bind(&on_message, ::_1, ::_2)); // 连接服务器 websocketpp::lib::error_code ec; client::connection_ptr con = c.get_connection(uri, ec); if (ec) { std::cout << "Could not create connection: " << ec.message() << std::endl; return; } c.connect(con); // 发送数据 c.send(con->get_handle(), serialized_data, websocketpp::frame::opcode::binary); // 等待连接关闭 c.run(); } catch (websocketpp::exception const & e) { std::cout << e.what() << std::endl; } } else { ROS_ERROR("t3 perceptionCallback parse fail!"); } } int main(int argc, char **argv) { ros::init(argc, argv, "listener"); ros::NodeHandle n; ros::Subscriber sub = n.subscribe("/perception_node/perception_objects", 1000, perceptionCallback); ros::spin(); return 0; } ``` 在上面的代码中，我们使用了 websocketpp 库来创建 websocket 客户端，并发送二进制数据到指定的服务器。在 `perceptionCallback` 函数中，我们将解析得到的 Protobuf 数据序列化为二进制数据，并发送到服务器。 请注意，这里我们使用了 TLS 加密的 websocket 连接，因此需要设置 TLS 初始化回调函数来初始化 SSL 上下文。同时，我们也设置了连接成功、连接失败和收到消息的回调函数。

这个错误是因为在Boost.Asio库中没有找到`thread_pool`类的成员。`thread_pool`类在较新的Boost版本中是不再提供的。 如果你想使用线程池功能，可以考虑使用Boost.Asio库中提供的其他替代方案。例如，你可以使用`io_context`和`executor_work_guard`来实现线程池的功能。下面是一个简单的示例代码： ```cpp #include <boost/asio.hpp> #include <iostream> class ThreadPool { public: ThreadPool(size_t numThreads) : work_(ioContext_) { for (size_t i = 0; i < numThreads; ++i) { threads_.emplace_back([this]() { ioContext_.run(); }); } } ~ThreadPool() { ioContext_.stop(); for (auto& thread : threads_) { thread.join(); } } template <typename Task> void post(Task&& task) { boost::asio::post(ioContext_, std::forward<Task>(task)); } private: boost::asio::io_context ioContext_; boost::asio::executor_work_guard<boost::asio::io_context::executor_type> work_; std::vector<std::thread> threads_; }; int main() { ThreadPool threadPool(4); for (int i = 0; i < 10; ++i) { threadPool.post([i]() { std::cout << "Task " << i << " executed in thread " << std::this_thread::get_id() << std::endl; }); } std::this_thread::sleep_for(std::chrono::seconds(2)); return 0; } ``` 在这个示例中，我们使用了`io_context`和`executor_work_guard`来创建了一个简单的线程池。`post`方法用于将任务提交到线程池中执行。 请确保在编译时链接了Boost.Asio库，并将头文件路径正确地包含在编译器的搜索路径中。希望这能帮助你解决问题。如有更多疑问，请随时提问。