From 85150ade84fa6ecc5469a334aaf09649a61b579f Mon Sep 17 00:00:00 2001
From: Ely Repiso Polo <erepiso@iri.upc.edu>
Date: Mon, 28 Jun 2021 09:17:28 +0000
Subject: [PATCH] probar sim iterativo
---
launch/people_simulation.launch | 2 +-
src/people_simulation_alg_node.cpp | 13 ++-----------
2 files changed, 3 insertions(+), 12 deletions(-)
diff --git a/launch/people_simulation.launch b/launch/people_simulation.launch
index 71314be..3ac3af2 100644
--- a/launch/people_simulation.launch
+++ b/launch/people_simulation.launch
@@ -14,7 +14,7 @@
<!-- TODO change map with arg -->
<remap from="~tracks" to="/$(optenv ROBOT tibi)/tracks"/>
<remap from="~tracksMarkers" to="/$(optenv ROBOT tibi)/tracksMarkers"/>
- <remap from="~init_simulations" to="/$(optenv ROBOT tibi)/init_simulations"/>
+ <remap from="~init_simulations" to="/init_simulations"/>
</node>
</launch>
diff --git a/src/people_simulation_alg_node.cpp b/src/people_simulation_alg_node.cpp
index 7e1e87e..05b5429 100644
--- a/src/people_simulation_alg_node.cpp
+++ b/src/people_simulation_alg_node.cpp
@@ -9,8 +9,7 @@ PeopleSimulationAlgNode::PeopleSimulationAlgNode(void) :
{
//init class attributes if necessary
//this->loop_rate_ = 10;//in [Hz] Es de ubuntu 14.04
- setRate(10);
-
+ setRate(10);//ROS_INFO("PeopleSimulationAlgNode::init_node");
// [init publishers]
this->tracksMarkers_publisher_ = this->public_node_handle_.advertise<visualization_msgs::MarkerArray>("tracksMarkers", 100);
this->tracks_publisher_ = this->public_node_handle_.advertise<iri_perception_msgs::detectionArray>("tracks", 100);
@@ -102,26 +101,19 @@ void PeopleSimulationAlgNode::init_sim()
void PeopleSimulationAlgNode::mainNodeThread(void)
{
-
-//ROS_INFO(" PeopleSimulationAlgNode::mainNodeThread !!!");
-
+ROS_INFO(" PeopleSimulationAlgNode::mainNodeThread !!!");
//ros::init(argc, argv, "init_simulations");
// ros::NodeHandle nh("~");
// PoseServer server;
// ros::ServiceServer service = nh.advertiseService("/epsilon/get_pose", server.compute_Pose);
-
-
-
-
// [fill msg structures]
//peopleTrackingArray_msg_.header.seq = seq_cont_; //autocompeted by ros.... lol
peopleTrackingArray_msg_.header.stamp = ros::Time::now();
//for every new trajectory
iri_perception_msgs::detection person;
-
//scene update
this->alg_.lock();
// ------------------------------------------------------------------------
@@ -331,7 +323,6 @@ int main(int argc,char *argv[])
}
-
void PeopleSimulationAlgNode::init_simulations_mutex_enter(void)
{
pthread_mutex_lock(&this->init_simulations_mutex_);
--
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