questions about run "people_tracker.launch"

[Zhang-Qinghui]

hi, thanks for your good work. When I run "people_tracker.launch", I have met the same question as https://github.com/yzrobot/online_learning/issues/6. I have changed the "detectors.yaml" as you said, but I still can not obstain tracking marks or trajectory as your video shows, just like the following picture. Do you know how to solve this problem? Thank you in advance.

[yzrobot]

Hi, could you post your rqt_graph to better identify the problem? Also, did you try this: object3d_detector/launch/object3d_detector_ol.launch? Best

[Zhang-Qinghui]

Hi, could you post your rqt_graph to better identify the problem? Also, did you try this: object3d_detector/launch/object3d_detector_ol.launch? Best

Thanks for your reply. At first, I thought that running the “people_tracker.launch” file was needed for tracking. Later, when I saw that the tracking node “bayes_people_tracker” was started in the “object3d_detector.launch” file, I realized that only the “object3d_detector.launch” file was enough. When I roslaunch "object3d_detector.launch" file, I can see the human detection bounding box successfully as the first picture shows, but I can't see the tracking marks or trajectory as your video https://www.youtube.com/watch?v=bjztHV9rC-0 shows. I have subscribed the topic "/people_tracker/marker_array" and "/people_tracker/trajectory" in rviz, and the topic status is ok. when I use "rostopic echo" command to check this two topic, I find there is no message in topic. The second picture is the corresponding rqt_graph. Why does this happen? How can I get the tracking ID and trajectory？Do I miss something？In addition, I did not try the "object3d_detector_ol.launch".Looking forward to your reply.Thank you in advance.

[yzrobot]

Node connection looks ok... could you try to change in Rviz "Fixed Frame" to base_link or odom to see, or in case of missing tf tree, try

<node pkg="tf" type="static_transform_publisher" name="odom" args="0 0 0 0 0 0 odom base_link 100"/>
<node pkg="tf" type="static_transform_publisher" name="velodyne" args="0 0 0 0 0 0 base_link velodyne 100"/>

I think the point to understand here is under which coordinate system we do tracking.

[Zhang-Qinghui]

Node connection looks ok... could you try to change in Rviz "Fixed Frame" to base_link or odom to see, or in case of missing tf tree, try

<node pkg="tf" type="static_transform_publisher" name="odom" args="0 0 0 0 0 0 odom base_link 100"/>
<node pkg="tf" type="static_transform_publisher" name="velodyne" args="0 0 0 0 0 0 base_link velodyne 100"/>

I think the point to understand here is under which coordinate system we do tracking.

As the first and second picture shows, I still can't see the tracking marks or trajectory when I change in Rviz "Fixed Frame" to base_link or odom. In other words, if there is a problem with rviz settings, why hasn't any messages been posted on the topic "/people_tracker/marker_array" and "/people_tracker/trajectory"？

[RussellGee]

hi, thanks for your good work. When I run "people_tracker.launch", I have met the same question as https://github.com/yzrobot/online_learning/issues/6. I have changed the "detectors.yaml" as you said, but I still can not obstain tracking marks or trajectory as your video shows, just like the following picture. Do you know how to solve this problem? Thank you in advance.

hi Zhang-Qinghui, i have install&build the program,and change bag value as the description. but when i run the command "roslaunch object3d_detector object3d_detector.launch", the output as follow:

... logging to /home/chen/.ros/log/6455c648-f294-11ea-8ba1-409f38ea5d55/roslaunch-chen-14811.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

Traceback (most recent call last): File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/init.py", line 306, in main p.start() File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/parent.py", line 268, in start self._start_infrastructure() File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/parent.py", line 217, in _start_infrastructure self._load_config() File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/parent.py", line 132, in _load_config roslaunch_strs=self.roslaunch_strs, verbose=self.verbose) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/config.py", line 451, in load_config_default loader.load(f, config, verbose=verbose) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 749, in load self._load_launch(launch, ros_config, is_core=core, filename=filename, argv=argv, verbose=verbose) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 721, in _load_launch self._recurse_load(ros_config, launch.childNodes, self.root_context, None, is_core, verbose) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 657, in _recurse_load n = self._node_tag(tag, context, ros_config, default_machine, verbose=verbose) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 95, in call return f(*args, **kwds) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 408, in _node_tag self._param_tag(t, param_ns, ros_config, force_local=True, verbose=verbose) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 95, in call return f(*args, **kwds) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 257, in _param_tag vals = self.opt_attrs(tag, context, ('value', 'textfile', 'binfile', 'command')) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 202, in opt_attrs return [self.resolve_args(tag_value(tag,a), context) for a in attrs] File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 183, in resolve_args return substitution_args.resolve_args(args, context=context.resolve_dict, resolve_anon=self.resolve_anon) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 370, in resolve_args resolved = _resolve_args(resolved, context, resolve_anon, commands) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 383, in _resolve_args resolved = commands[command](resolved, a, args, context) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 151, in _find source_path_to_packages=source_path_to_packages) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 197, in _find_executable full_path = _get_executable_path(rp.get_path(args[0]), path) File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 203, in get_path raise ResourceNotFound(name, ros_paths=self._ros_paths) ResourceNotFound: velodyne_pointcloud ROS path [0]=/opt/ros/kinetic/share/ros ROS path [1]=/home/chen/ssh/develop/person_detection_ziliao/robosense_SDK/git_program/ yzrobot/online_learning /catkin_ws/src ROS path [2]=/opt/next/share ROS path [3]=/opt/bzrobot_vision/share ROS path [4]=/opt/bzrobot_patrol/share ROS path [5]=/opt/ros/kinetic/share

Have you ever meet this issue, look forword your reply. Thank you in advance.