This script is meant to be used with the strands_morse environment or more specifically the human pose simulator which is why the input topic defaults to /human/transformed. It also requires a static transform publisher to be running to create a link between the simulator and the robot's tf frame as can be seen in the uol environment launch file.
Functionality:
Receive a PoseStamped and create all the topics that the bayes people tracker would be publishing:
A PoseStamped for the closest person, in this case the only person
A PoseArray for all detected people
A MarkerArray with the visualisation
A PeopleTracker message with uuids and poses
A People message with poses and velocities for social costmaps
This PR only adds code and should therefore not be critical.
I might have been able to reuse the header file from the people_tracker for the visualisation, but I didn't want to do this in C++ ;)
cdondrup
commented
9 years ago
This script is meant to be used with the
strands_morseenvironment or more specifically the human pose simulator which is why the input topic defaults to/human/transformed. It also requires a static transform publisher to be running to create a link between the simulator and the robot's tf frame as can be seen in the uol environment launch file.Functionality:
Receive a
PoseStampedand create all the topics that the bayes people tracker would be publishing:PoseStampedfor the closest person, in this case the only personPoseArrayfor all detected peopleMarkerArraywith the visualisationPeopleTrackermessage with uuids and posesPeoplemessage with poses and velocities for social costmapsThis PR only adds code and should therefore not be critical.
I might have been able to reuse the header file from the people_tracker for the visualisation, but I didn't want to do this in C++ ;)