Missing ground truth pose topic

[VietPT3502]

when i open AWSIM_demo.x86_64 and run ros2 topic list, Only the following topic is return: /clock /control/command/control_cmd /control/command/emergency_cmd /control/command/gear_cmd /control/command/hazard_lights_cmd /control/command/turn_indicators_cmd /parameter_events /rosout /sensing/camera/traffic_light/camera_info /sensing/camera/traffic_light/image_raw /sensing/gnss/pose /sensing/gnss/pose_with_covariance /sensing/imu/tamagawa/imu_raw /sensing/lidar/top/pointcloud_raw /sensing/lidar/top/pointcloud_raw_ex /vehicle/status/control_mode /vehicle/status/gear_status /vehicle/status/hazard_lights_status /vehicle/status/steering_status /vehicle/status/turn_indicators_status /vehicle/status/velocity_status

I dont see ground truth topic in docs which are /awsim/ground_truth/vehicle/pose

[Autostone-c]

when i open AWSIM_demo.x86_64 and run ros2 topic list, Only the following topic is return: /clock /control/command/control_cmd /control/command/emergency_cmd /control/command/gear_cmd /control/command/hazard_lights_cmd /control/command/turn_indicators_cmd /parameter_events /rosout /sensing/camera/traffic_light/camera_info /sensing/camera/traffic_light/image_raw /sensing/gnss/pose /sensing/gnss/pose_with_covariance /sensing/imu/tamagawa/imu_raw /sensing/lidar/top/pointcloud_raw /sensing/lidar/top/pointcloud_raw_ex /vehicle/status/control_mode /vehicle/status/gear_status /vehicle/status/hazard_lights_status /vehicle/status/steering_status /vehicle/status/turn_indicators_status /vehicle/status/velocity_status

I dont see ground truth topic in docs which are /awsim/ground_truth/vehicle/pose

hi，i have no /sensing/lidar/top/pointcloud_raw /sensing/lidar/top/pointcloud_raw_ex topic, do you know why?

[VietPT3502]

i follow the quick start demo in official docs and get everything well except for the ground_truth topic. maybe you have conflict ros. Im using ros2 humble ubuntu 22.04 and AWSIM_v1.1.0

[Autostone-c]

i follow the quick start demo in official docs and get everything well except for the ground_truth topic. maybe you have conflict ros. Im using ros2 humble ubuntu 22.04 and AWSIM_v1.1.0

How did you solve the aforementioned problem（ground_truth topic）

[VietPT3502]

i follow the quick start demo in official docs and get everything well except for the ground_truth topic. maybe you have conflict ros. Im using ros2 humble ubuntu 22.04 and AWSIM_v1.1.0

How did you solve the aforementioned problem（ground_truth topic）

i haven't solve it yet.

[mackierx111]

Sorry, the /awsim/ground_truth/vehicle/pose is not published in the demo binary (v1.1.0) that is currently distributed. It will be reflected in the next version. If necessary, you can build the main branch with UnityEditor and it will be published.

[VietPT3502]

Hello @mackierx111, sorry for bothering you but i want to know how to calculate the lateral and longitudinal error based on predicted pose and ground truth pose. Here is my example code but i dont think i correctly calculate lateral and longitudinal error. import threading import time import math import rclpy from rclpy.node import Node from geometry_msgs.msg import PoseStamped from nav_msgs.msg import Odometry

class LocalizationSubscriber(Node): def init(self): super().init('localization_subscriber') self.subscription_localization = self.create_subscription( Odometry, '/localization/kinematic_state', self.localization_callback, 10 # QoS profile depth ) self.subscription_ground_truth = self.create_subscription( PoseStamped, '/awsim/ground_truth/vehicle/pose', self.ground_truth_callback, 10 # QoS profile depth )

    # Initialize variables
    self.gt_x, self.gt_y, self.gt_z = 0.0, 0.0, 0.0
    self.x, self.y, self.z = 0.0, 0.0, 0.0
    self.total_error_sum = 0.0
    self.total_error_x,  self.total_error_y,  self.total_error_z = 0.0, 0.0, 0.0
    self.num_errors = 0
    self.max_error_x, self.max_error_y, self.max_error_z = 0.0, 0.0, 0.0
    self.error_x, self.error_y, self.error_z = 0.0, 0.0, 0.0
    self.max_error = 0
    # Flag to indicate if error calculation should continue
    self.calculate_error = False

def localization_callback(self, msg):
    position = msg.pose.pose.position
    self.x, self.y, self.z = position.x, position.y, position.z

    if self.calculate_error:
        self.calculate_error_metrics()
        self.update_max_errors()
def ground_truth_callback(self, msg):
    position = msg.pose.position
    self.gt_x, self.gt_y, self.gt_z = position.x, position.y, position.z

def calculate_error_metrics(self):
    self.error_x = self.x - self.gt_x
    self.error_y = self.y - self.gt_y
    self.error_z = self.z - self.gt_z
    error_magnitude = abs(math.sqrt(self.error_x**2 + self.error_y**2 + self.error_z**2))
    self.max_error = max(self.max_error, error_magnitude)
    self.total_error_sum += error_magnitude
    self.total_error_x += abs(self.error_x)
    self.total_error_y += abs(self.error_y)
    self.total_error_z += abs(self.error_z)
    self.num_errors += 1
def update_max_errors(self):
    self.max_error_x = max(self.max_error_x, abs(self.error_x))
    self.max_error_y = max(self.max_error_y, abs(self.error_y))
    self.max_error_z = max(self.max_error_z, abs(self.error_z))
def calculate_and_print_mean_error(self):
    if self.num_errors > 0:
        mean_error_x = self.total_error_x / self.num_errors
        mean_error_y = self.total_error_y / self.num_errors
        mean_error_z = self.total_error_z / self.num_errors
        mean_total_error = self.total_error_sum / self.num_errors

        print(f"Mean Error in x: {mean_error_x} meters")
        print(f"Mean Error in y: {mean_error_y} meters")
        print(f"Mean Error in z: {mean_error_z} meters")
        print(f"Mean Total Error: {mean_total_error} meters")

        print(f"Max Error in x: {self.max_error_x} meters")
        print(f"Max Error in y: {self.max_error_y} meters")
        print(f"Max Error in z: {self.max_error_z} meters")
        print(f"Max Total Error: {self.max_error} meters")
    else:
        print("No errors recorded.")

def start_error_calculation(self):
    self.calculate_error = True
    print("Error calculation started. Press 'q' to stop and calculate mean error.")

def stop_error_calculation(self):
    self.calculate_error = False
    self.calculate_and_print_mean_error()
    self.reset()
    print("Error calculation stopped.")
def reset(self):
    self.gt_x, self.gt_y, self.gt_z = 0.0, 0.0, 0.0
    self.x, self.y, self.z = 0.0, 0.0, 0.0
    self.total_error_sum = 0.0
    self.total_error_x,  self.total_error_y,  self.total_error_z = 0.0, 0.0, 0.0
    self.num_errors = 0
    self.max_error_x, self.max_error_y, self.max_error_z = 0.0, 0.0, 0.0
    self.error_x, self.error_y, self.error_z = 0.0, 0.0, 0.0
    self.max_error = 0

def user_input_thread(node): while True: user_input = input("Press 'q' to start/stop error calculation: ") if user_input.lower() == 'q': if node.calculate_error: node.stop_error_calculation() else: node.start_error_calculation() time.sleep(0.1)

def main(): rclpy.init() node = LocalizationSubscriber()

# Start a separate thread for user input
input_thread = threading.Thread(target=user_input_thread, args=(node,), daemon=True)
input_thread.start()

# Main thread for spinning the node
rclpy.spin(node)
rclpy.shutdown()

if name == 'main': main()