Logging package¶
This packge contains a logging node to save the detections to the message_store.
All the information given on how to run the nodes should only be used if
you need to run them seperately. In normal cases please refer to the
perception_people_launch
package to start the whole perception
pipeline.
Logging¶
This node uses the Logging.msg
to save the detected people together
with their realworld position, the robots pose, the upper body detector
and people tracker results, and the tf transform used to create the real
world coordinates in the message store.
Run with:
roslaunch bayes_people_tracker_logging logging.launch
Parameters: * log
: Default: true This convenience parameter
allows to start the whole system without logging the data
Updating old database entries¶
This assumes that your mongodb_store
is running.
With version >1.1.8 the message type of the people tracker has been
changed to include the velocities of humans as a Vector3. To update old
database entries just run
rosrun bayes_people_tracker_logging migrate.py
which will update
entries in place. Please be careful and create a copy of the
people_perception
collection in the message store before running
this.
Original page: https://github.com/strands-project/strands_perception_people/blob/indigo-devel/bayes_people_tracker_logging/README.md