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"

给您提供一份修改后的代码：

#include "ros/ros.h"
#include <websocketpp/config/asio_client.hpp>
#include <websocketpp/client.hpp>
#include <websocketpp/common/thread.hpp>
#include <iostream>

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) {
            std::cout << "连接失败: " << ec.message() << std::endl;
            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;
        m_client.send(serialized_data, websocketpp::frame::opcode::text);
    }

private:
    void on_message(websocketpp::connection_hdl hdl, client::message_ptr msg) {
        // 处理websocket服务器返回的消息
        std::cout << "收到消息: " << msg->get_payload() << std::endl;
    }

    client m_client;
};

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;
}

这份代码使用了websocketpp库来创建websocket客户端，并在ROS中订阅了一个感知话题。当收到该话题的消息时，就会将消息序列化后发送到websocket服务器。同时，也会监听websocket服务器返回的消息并进行处理。请注意，这份代码需要安装websocketpp库才能编译通过。