ERROR] [1623895817.923373530]: Tried to advertise on topic [/] with md5sum [d155b9ce5188fbaf89745847

ROS自定义一个msg： “fusion_lidars_objects::CareAreaObjects”，在编译过程中未出现错误，但是在运行过程中出错：

[ERROR] [1623895817.923373530]: Tried to advertise on topic [/] with md5sum [d155b9ce5188fbaf89745847fd5882d7] and datatype [visualization_msgs/MarkerArray], but the topic is already advertised as md5sum [7269e4564c1d087f84005fa661a6ebb4] and datatype [fusion_lidars_objects/CareAreaObjects]

通过分析，问题定位在以下代码，以下代码是从参数服务器获取pub_care_area_objects_seg_topic话题名，在advertise函数中以std::string类型的pub_care_area_objects_seg_topic为话题名广播topic。

//advertise objects topics on ROS master
        std::string pub_care_area_objects_seg_topic;
        private_nh.getParam(param_ns_prefix_ + "/pub_care_area_objects_seg_topic",
                            pub_care_area_objects_seg_topic);
        care_area_objects_pub_ =
                nh.advertise<fusion_lidars_objects::CareAreaObjects>(pub_care_area_objects_seg_topic,1);
        //care_area_objects_pub_ =
                //nh.advertise<fusion_lidars_objects::CareAreaObjects>("pub_care_area_objects_segmented_r",10);

将代码修改成以下代码后运行时不再出行上述错误。

//advertise objects topics on ROS master
        std::string pub_care_area_objects_seg_topic;
        private_nh.getParam(param_ns_prefix_ + "/pub_care_area_objects_seg_topic",
                            pub_care_area_objects_seg_topic);
        //care_area_objects_pub_ =
                //nh.advertise<fusion_lidars_objects::CareAreaObjects>(pub_care_area_objects_seg_topic,1);
        care_area_objects_pub_ =
                nh.advertise<fusion_lidars_objects::CareAreaObjects>("pub_care_area_objects_segmented_r",10);

自定义话题难道不能从ROS参数服务器获取话题名然后在运行时确定话题名是什么么？

最后发现bug出在订阅visualization_msgs/MarkerArray话题的回调函数上，如下：

//左雷达回调函数
void Objects_l_Callback(visualization_msgs::MarkerArray objs_marker_array)

修改为以下则解决了。

//左雷达回调函数
void Objects_l_Callback(visualization_msgs::MarkerArray::ConstPtr objs_marker_array)

此bug出现的具体逻辑为：
第一次catkin_make编译，出现visualization_msgs::MarkerArray匹配不上的错误，于是将导致错误的相应代码注释掉了，再次编译通过了，但在运行时出现错误。