帮我实现websocket wss发送的相关代码将serialized_data用websocket wss发送，#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" apollo::perception::PerceptionObstacles perception_obstacles_; void perceptionCallback(const std_msgs::String& msg) { ROS_WARN("t3 perceptionCallback parse"); 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); } 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; }

好的，下面是一个简单的websocket wss发送代码示例：

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

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

int main(int argc, char **argv) {
    // Create a client endpoint
    client endpoint;

    try {
        // Set up SSL options
        endpoint.set_tls_init_handler([] (websocketpp::connection_hdl) {
            return websocketpp::lib::make_shared<boost::asio::ssl::context>(boost::asio::ssl::context::sslv23);
        });

        // Set up access credentials
        websocketpp::lib::error_code ec;
        client::connection_ptr con = endpoint.get_connection("wss://example.com", ec);
        if (ec) {
            std::cout << "could not create connection because: " << ec.message() << std::endl;
            return 0;
        }
        con->add_subprotocol("chat");
        con->append_header("Authorization", "Bearer " + access_token);

        // Send serialized data
        std::string serialized_data = "your serialized data here";
        endpoint.connect(con);
        endpoint.send(con, serialized_data, websocketpp::frame::opcode::text);

        // Wait for the connection to close
        endpoint.run();
    } catch (const std::exception& e) {
        std::cout << e.what() << std::endl;
    }

    return 0;
}

这里使用了websocketpp库，需要在代码中添加相应的头文件和链接websocketpp库。其中，access_token是访问令牌，如果需要的话可以根据具体的需求进行添加。在代码中，具体的websocket wss地址和协议可以根据实际情况进行修改。需要注意的是，这里使用了SSL/TLS协议进行加密，确保数据传输的安全性。