search

praveen-palanisamy / multiple-object-tracking-lidar

C++ implementation to Detect, track and classify multiple objects using LIDAR scans or point cloud
MIT License
796 stars 229 forks source link

ROS node hangs #14

Closed VijeetBenni closed 5 years ago

VijeetBenni commented 5 years ago

I followed the steps from the ReadMe, when I run the tracker by below command, (with roscore running) _$rosrun multi_object_tracking_lidar kftracker It hangs showing About to setup callback

Do I need to do something else? Like providing inputs ? From where does it takes the input?

praveen-palanisamy commented 5 years ago

Hey @VijeetBenni :

For the multi_object_tracking_lidar kf_tracker to work, you need point cloud data from a LiDAR-like sensor (or a rosbag/logged-data) and a ROS node that publishes those point clouds onto the filtered_cloud topic as stated in the README.

VijeetBenni commented 5 years ago

Thanks Praveen.

Since I am new to ROS, not aware of ros commands. Can you direct me on how to use rostopic etc.,?

xph123123 commented 5 years ago

Thanks for your wonderful contribution, i came through the same problem as "It hangs showing About to setup callback". Then, i changed the subscribed topic in main.cpp from "filtered_cloud" to "pandar_points" which is the topic published by the lidar i used. but it still didn't work. i can't figure it out.

xph123123 commented 5 years ago

The "pandar_points" is in the form of PointCloud2

praveen-palanisamy commented 5 years ago

@VijeetBenni : There are a lot of tutorials and documentation online that cover how to publish data to ROS topics. Please refer to them. Some pointers:

  1. Understanding ROS topics
  2. Laser scans and point clouds in ROS; Converting laser scans to point clouds

@xph123123 : You can use the remap tag to remap "pandar_points" to "filtered_cloud".

If you change the topic anme in the code, please make sure you rebuild this ROS node before running to make sure your code change came into effect.

xph123123 commented 5 years ago

Thank you very much for your help. The problem has been solved!

praveen-palanisamy commented 5 years ago

@xph123123 : Glad that your problem has been solved!

Closing this issue. Reopen or create a new one if required.

Tonyc48 commented 3 years ago

@praveen-palanisamy: I have the same issue. Do I need to publish each cluster, obj_id, and viz to the filtered_cloud topic? After running "rosrun multi_object_tracking_lidar kf_tracker", I look at the rostopic list and it reads: Published topics:

Subscribed topics:

I even went into the main file of kf_tracker source code and included:

include <pcl_ros/point_cloud.h>

I still get the "About to setup callback" error.

I also opened rviz and tried to add the PointCloud2 display with filtered_cloud topic. I've tried just about everything but nothing seems to work. I would really love your help!