Using the 'FixedEstimator' behavior model

[turtleMaster20]

I want to pass the dimensions of detected objects as FixedEstimator model. The idea being that they do not affect the data association as the dimensions coming out of my detection are not entirely consistent. So I want to just pass this value. If a state sees a new evidence which is potentially the new state (or influences the new state), then it will update the position (and orientation) based on this this new evidence and the dimensions of detection will be overwritten from the new Evidence.

When I try to load the FixedEstimator (even without any parameters, or with parameters from uniform or discrete estimators), it crashes the wire_core.

Can you give me any tips regarding how to use this particular behavior model?

Alternatively I was thinking I could still use the PositionEsitmator with a very high co-variance for this purpose.

[MatthijsBurgh]

@turtleMaster20 Could you please provide any logs of the crash?

@jelfring any documentation on how to the FixedEstimator?

[turtleMaster20]

@turtleMaster20 Could you please provide any logs of the crash?

@jelfring any documentation on how to the FixedEstimator?

There is no error message. The node wire_server just crashes without any warnings:

[wire_server-2] process has died [pid 10078, exit code -11, cmd /home/${user}/catkin_ws/devel/lib/wire_core/wire_server __name:=wire_server __log:=/home/${user}/.ros/log/c05c2fd8-c384-11eb-b2cb-70665563ddcd/wire_server-2.log].

The behavior_model is included as such:

<behavior_model attribute="object_dim" model="wire_state_estimators/FixedEstimator">
            <pnew type="discrete" domain_size="100" />            
            <pclutter type="discrete" domain_size="100" />
</behavior_model>

[MatthijsBurgh]

The pointer logic in the FixedState estimator was incorrect. I have fixed this in 9ba8fdce5ead38a1e97d219bac3df425a24c8e67. I haven't checked the other estimators at the moment. But please checkout the fix/parser branch and see if that works for you.