object_tracking - IRS-group/isr_tiago_docs GitHub Wiki

Setup

The semantic mapping is achieved with the bayes_objects_tracker package.

Edit the launch file or create a new one and make sure is setup according to the following guidelines.

The object detector output must match the object localizer input (detections topic).

The topic in the detectors.yaml should match the output of the object localizer (localized_objects topic).

The number of rows of the confusion matrix (confusion_matrix.yaml) must be equal to the number of object classes (names.yaml) plus 1.

How to build the confusion matrix?

Run

roslaunch bayes_objects_tracker bayes_objects_tracker_no_namespaces.launch

Then to start the object tracker publish:

rostopic pub /bayes_objects_tracker/event_in std_msgs/String "data: 'e_start'"