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cloisim_ros_ground_truth package from cloisim_ros repo

cloisim_ros_actor cloisim_ros_base cloisim_ros_bridge_zmq cloisim_ros_bringup cloisim_ros_bringup_param cloisim_ros_camera cloisim_ros_contact cloisim_ros_elevator_system cloisim_ros_gps cloisim_ros_ground_truth cloisim_ros_imu cloisim_ros_joint_control cloisim_ros_lidar cloisim_ros_micom cloisim_ros_msgs cloisim_ros_multicamera cloisim_ros_protobuf_msgs cloisim_ros_range cloisim_ros_realsense cloisim_ros_websocket_service cloisim_ros_world

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	4.7.1
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/lge-ros2/cloisim_ros.git
VCS Type	git
VCS Version	main
Last Updated	2025-03-17
Dev Status	UNMAINTAINED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

world plugin to retrieve ground truth

Additional Links

No additional links.

Maintainers

Hyunseok Yang

Authors

Hyunseok Yang

cloisim_ros_ground_truth/README.md

CLOiSim-ROS GroundTruth Plugin

ros2 run cloisim_ros_ground_truth standalone
ros2 run cloisim_ros_ground_truth standalone --ros-args -p target_parts_name:=tracking

How to configure

if you want to tracking dynamic props, set enable attribute in <props> element to true.

<plugin name="GroundTruthPlugin" filename="libGroundTruthPlugin.so">
  <publish_frequency>5</publish_frequency>
  <props enable="true">
    <prop class_id="10">box</prop>
    <prop class_id="11">cylinder</prop>
    <prop class_id="12">sphere</prop>
  </props>
  <list>
    <target tracking_id="1" class_id="101">L9S</target>
    <target tracking_id="11" class_id="100">Former1</target>
  </list>
</plugin>

samples

You need to configure the ground truth list from here.

How to monitor the message of topic

ros2 topic echo /ground_truth

Examples of outputs

---
header:
  stamp:
    sec: 7
    nanosec: 259999837
  frame_id: ''
objects:
- header:
    stamp:
      sec: 7
      nanosec: 259999837
    frame_id: ''
  tracking_id: 0
  class_id: 101
  position:
    x: -43.8023567199707
    y: -28.77000617980957
    z: -6.612044334411621
  velocity:
    x: 0.0
    y: -0.0
    z: 2.6813422664417885e-05
  size:
    x: 0.8143882751464844
    y: -0.5866775512695312
    z: 1.3645973205566406
  footprint:
    points:
    - x: -0.031848907470703125
      y: 0.2933387756347656
      z: 0.0
    - x: -0.030796051025390625
      y: 0.2933387756347656
      z: 0.0
    - x: -0.030796051025390625
      y: 0.2933387756347656
      z: 0.0
    - '...'
- header:
    stamp:
      sec: 7
      nanosec: 259999837
    frame_id: ''
  tracking_id: 1
  class_id: 100
  position:
    x: -35.91999816894531
    y: -28.219999313354492
    z: -6.590000152587891
  velocity:
    x: 0.0
    y: -0.0
    z: 0.0
  size:
    x: 0.3796844482421875
    y: -0.3796844482421875
    z: 1.5396394729614258
  footprint:
    points:
    - x: 0.0
      y: -0.18984131515026093
      z: 0.0
    - x: 0.032117798924446106
      y: -0.1871047168970108
      z: 0.0
    - x: 0.06330962479114532
      y: -0.17897379398345947
      z: 0.0
    - '...'
- header:
    stamp:
      sec: 7
      nanosec: 259999837
    frame_id: ''
  tracking_id: 2
  class_id: 100
  position:
    x: -41.80641555786133
    y: -20.955291748046875
    z: -6.590000152587891
  velocity:
    x: -0.18361832201480865
    y: -0.09813712537288666
    z: 0.0
  size:
    x: 0.3796844482421875
    y: -0.3796844482421875
    z: 1.2043333053588867
  footprint:
    points:
    - x: 0.0
      y: -0.1898414045572281
      z: 0.0
    - x: 0.0321178138256073
      y: -0.18710480630397797
      z: 0.0
    - x: 0.06330965459346771
      y: -0.17897386848926544
      z: 0.0
    - '...'
---

CHANGELOG

No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	perception_msgs
	ament_cmake
	cloisim_ros_bringup_param
	cloisim_ros_base

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
cloisim_ros_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `cloisim_ros_ground_truth` at Robotics Stack Exchange

API Docs Browse Code

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