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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

Description ROS2 simulation device packages to connect unity based multi-robot simulator CLOisim.
Checkout URI https://github.com/lge-ros2/cloisim_ros.git
VCS Type git
VCS Version main
Last Updated 2025-03-17
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags docker device robot robotics simulation sensor ros bridge ros2 robotics-simulation foxy cloisim multi-robot-simulator cloisim-ros
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

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