No tracks received with /map published on the navigation stack (see #16)

spencer-project / spencer_people_tracking

Multi-modal ROS-based people detection and tracking framework for mobile robots developed within the context of the EU FP7 project SPENCER.

http://www.spencer.eu/

656 stars 326 forks source link

No tracks received with /map published on the navigation stack (see #16) #106

Closed RohanDwivedi closed 2 years ago

RohanDwivedi commented 2 years ago

With suggestions received from #16, we were able to figure out that when the map (space mapped using hector mapping) is published on the /map topic whilst the navigation stack is running, we are not able to get any tracking's. But what's peculiar is that when we run the hector mapping node (that is when we are mapping a new space) , but also run the same spencer tracking pipeline we are able to get perfect tracking. Any suggestions on why it wouldn't work with navigation stack?

RohanDwivedi commented 2 years ago

update: we have isolated the issue to running AMCL with navigation stack, still no fixes.

RohanDwivedi commented 2 years ago

Reading through #98; solved the issue by setting use_initiation_logic to false with AMCL running and Nav stack completely functional. I still have no clue why closing down the amcl earlier affected the spencer tracking, if I could have a comment on that, would be grateful.