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srl-freiburg / pedsim_ros

Pedestrian simulator powered by the social force model
https://github.com/srl-freiburg/pedsim_ros
BSD 2-Clause "Simplified" License
447 stars 169 forks source link

Sensor Point Cloud Visualization #10

Closed sfchik closed 8 years ago

sfchik commented 8 years ago

Hi,

Thanks for releasing such a useful pedestrian simulation package, it helps me a lot. Recently, I am trying out the pedsim_point_clouds package for simulation, but nothing can be seen in the rviz even after adding the point cloud topics. I tried to troubleshoot and found that the point cloud node is subscribing /spencer/sensors/odom, which I can't see any node publishing the topic. Hence, I suspect something wrong with my use case. May I know the correct step of using the pedsim_point_clouds package? Thank you.

makokal commented 8 years ago

Hi,

Thanks for the feedback

The pedsim_point_clouds needs the position of the robot. Its my mistake I set that to /spencer/sensors/odom which comes from our simulated odometry (nav_msgs::Odometry) which is not release with this package.

Instead this should subscribe to /pedsim/robot_position published by the simulator which is a geometry_msgs::PoseStamped thing.

I will make the necessary change this tomorrow once am back to a real PC, but for now you can make a small temporary fix with by making it subscribe to the right topic.

sfchik commented 8 years ago

Hi,

Thanks for your swift reply. Appreciate it. I will try it out and feedback to you after it. Thanks a lot :)

sfchik commented 8 years ago

Hi,

Thanks it is working. XD