Open yashspatel09 opened 5 years ago
Try adjusting the values in the Dynamic Reconfigure starting with the filtered cloud and cluster sizes.
Also check the output of the lidar_body_tracking node in your terminal. You may need to pass --screen
to the end of your roslaunch command.
Hey I know I am not helping you much with this info but I am new with ROS and trying to figure out what I am doing wrong. Please guide me through this. This image shows 2 files that needs frame id change and 2 terminals with roslaunch and rostopic. For some reasone QP308 is still displaying and there is still no data in filtered or clustered nodes.
Can you please walk me through this. I would be really thankful
In the lidar_body_tracking.launch (top-left) try changing scan_topic
to /QP308/pc_QP308
/QP308/pc_QP308 is the Point Cloud topic published by the Quanergy Lidar driver.
Welcome to ROS!
Yup in my case it is Sensor/points
Can you do a rostopic info
on both:
/QP308/pc_QP308
/Sensor/points
left bottom is rostopic list after running Quanergy ros driver only and right bottom is after running lidar_body_tracking roslaunch
So I believe QP308 is coming from roslaunch. Please check following screenshots. Left side is /Sensor/topics and right side is /QP308
Again I am sorry for troubling you so much
The frame_id in the topic is set to Sensor
.
The URDF robot_name should be set to the same frame_id as the topic:
https://github.com/MyNameIsCosmo/lidar_body_tracking/blob/master/urdf/m8.urdf.xacro#L2
Try changing name="sensor_m8"
to name="Sensor"
do I change macro name as well? (
Nah, the macro name is irrelevant to this issue.
In fact, the macro is redundant for the Xacro file and is confusing, but that's an issue for a later date.
Well something silly mistake is been getting on for sure/
I derped
The actual value you need to change in the urdf is the link:
https://github.com/MyNameIsCosmo/lidar_body_tracking/blob/master/urdf/m8.urdf.xacro#L8-L10
<child link="Sensor"/>
</joint>
<link name="Sensor">
`<?xml version="3.0"?>
I did changed it to Sensor much before
Can it be possible that it height might be the reason? I can try placing it higher if needed
Height shouldn't be a reason since height should remain independent of the data.
Try putting some debug info like ROS_INFO('cloud_cb')
into the cloud_cb function, and work your way from there.
Few things to check are:
rostopic echo -n1 /Sensor/points/header/frame_id
)rospack find lidar_body_tracking
should bring up the current catkin workspace you're working with)Okay. Just one more thing before I do debugging. What should be the output for pcl_clustered and pcl_filtered when you do rostopic echo pcl_clustered/filtered
They should look like the same pointcloud message from Sensor/points
except with less data
Alrighty. Let me give it a try and see if anything works for me. I will ping you with result once I am done. Thanks once again
Hey I was able to get the display by changing topic name. Now how do I get person tracking working. Seems when I try to check rostopic for filtered and clustered topics they are not publishing anything. Guide me where am I going wrong. I am initializing m8 lidar using Quanergy_client_ros. Is that a problem? or do I have any other option. @MyNameIsCosmo