帮我修改下面的代码。要求建立一次weboscket链接，链接到wss://autopilot-test.t3go.cn:443/api/v1/vehicle/push/message/LFB1FV696M2L43840，当订阅到感知话题调用perceptionCallback时，通过wss发送serialized_data：#include "ros/ros.h" #include "std_msgs/String.h" #include <boost/thread/locks.hpp> #include

给您提供一份修改后的代码：

#include "ros/ros.h"
#include "std_msgs/String.h"
#include <websocketpp/config/asio_client.hpp>
#include <websocketpp/client.hpp>
#include <websocketpp/common/thread.hpp>
#include <boost/thread/locks.hpp>

typedef websocketpp::client<websocketpp::config::asio_tls_client> client;

class WebSocketClient {
public:
    WebSocketClient() {
        // 设置websocket的回调函数
        m_client.set_message_handler(std::bind(&WebSocketClient::on_message, this, std::placeholders::_1, std::placeholders::_2));
    }

    void start() {
        // 连接到websocket服务器
        websocketpp::lib::error_code ec;
        client::connection_ptr con = m_client.get_connection("wss://autopilot-test.t3go.cn:443/api/v1/vehicle/push/message/LFB1FV696M2L43840", ec);
        if (ec) {
            ROS_ERROR("连接失败: %s", ec.message().c_str());
            return;
        }

        // 运行websocket的事件循环
        m_client.init_asio();
        m_client.start_perpetual();
        m_client.connect(con);
        websocketpp::lib::thread asio_thread(&client::run, &m_client);
        asio_thread.join();
    }

    void perceptionCallback(const std_msgs::String::ConstPtr& msg) {
        // 发送消息到websocket服务器
        std::string serialized_data = msg->data;
        boost::unique_lock<boost::mutex> lock(m_mutex);
        m_send_queue.push(serialized_data); // 将消息加入发送队列
        lock.unlock();
        m_client.get_io_service().post(std::bind(&WebSocketClient::send_message, this)); // 通过io_service异步发送消息
    }

private:
    void send_message() {
        boost::unique_lock<boost::mutex> lock(m_mutex);
        if (m_send_queue.empty()) {
            return;
        }
        std::string message = m_send_queue.front();
        m_send_queue.pop();
        lock.unlock();
        m_client.send(message, websocketpp::frame::opcode::text); // 发送消息
    }

    void on_message(websocketpp::connection_hdl hdl, client::message_ptr msg) {
        // 处理websocket服务器返回的消息
        ROS_INFO("收到消息: %s", msg->get_payload().c_str());
    }

    client m_client;
    std::queue<std::string> m_send_queue;
    boost::mutex m_mutex;
};

int main(int argc, char** argv) {
    ros::init(argc, argv, "websocket_client");
    ros::NodeHandle nh;

    WebSocketClient ws_client;

    // 订阅感知话题
    ros::Subscriber sub = nh.subscribe("perception_topic", 1000, &WebSocketClient::perceptionCallback, &ws_client);

    // 运行ROS事件循环
    ros::spin();

    return 0;
}

这份代码与之前的代码类似，但加入了一些新的功能。具体来说，它使用了一个发送队列和一个互斥锁来保证消息的线程安全，同时使用了`io_service`来异步发送消息。这样做可以避免阻塞ROS事件循环，提高程序的响应性能。另外，它还使用了ROS的日志功能，用于输出调试信息。请注意，这份代码需要安装websocketpp库才能编译通过。