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Social navigation layers doesn't appear on rviz #54

Closed kadn closed 5 years ago

kadn commented 5 years ago

I use the plugin proxemiclayer, but I can't get any obstacles on rviz.

 plugins:
      - {name: static_map,       type: "costmap_2d::StaticLayer"}
      - {name: obstacles,        type: "costmap_2d::VoxelLayer"}  
      - {name: inflation_layer,  type: "costmap_2d::InflationLayer"}
      - {name: proxemiclayer,    type: "social_navigation_layers::ProxemicLayer"}
      - {name: passinglayer,     type: "social_navigation_layers::PassingLayer"}

I published a people message like following:

header: 
  seq: 13225
  stamp: 
    secs: 1560248121
    nsecs: 441350435
  frame_id: "people"
people: 
    name: "liwei"
    position: 
      x: 1.0
      y: 1.0
      z: 0.0
    velocity: 
      x: 0.2
      y: 0.4
      z: 0.0
    reliability: 0.7
    tagnames: []
    tags: []

But there is no person information on rviz. And I'm sure plugin passinglayer is used by global costmap 111 fff

kadn commented 5 years ago

I know where is the problem !! I forget to send a tf tree about map and people. When I add these code. RVIZ turns all riight!. fffss