test on mocap

LAAS-HRI · Jan 5, 2021 · cf5e606 · cf5e606
1 parent c5f2e2f
commit cf5e606
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Showing 3 changed files with 3 additions and 5 deletions.
diff --git a/config/mocap/mocap_human_localization_params.yaml b/config/mocap/mocap_human_localization_params.yaml
@@ -1 +1 @@
-optitrack_human_topic_names: {"Helmet_2": 1,"Helmet_4": 2} 
+optitrack_human_topic_names: {"Helmet_2": 1}
diff --git a/launch/utils/mocap.launch b/launch/utils/mocap.launch
@@ -1,6 +1,5 @@
 <launch>
 
-  <!-- <arg name="optitrack_human_topic_names" default="person_01_torso"/> -->
   <arg name="world2map_x" default ="6.4868"/>
   <arg name="world2map_y" default ="2.8506"/>
   <arg name="world2map_z" default ="0"/>

diff --git a/scripts/mocap_human_localization_node.py b/scripts/mocap_human_localization_node.py
@@ -29,7 +29,7 @@ def __init__(self):
         self.tf_bridge = TfBridge()
         self.tfOptitrack2Humans_ ={}
         self.subscribedNodeNames =rospy.get_param("~optitrack_human_topic_names",None)
-        # print self.subscribedNodeNames
+        print self.subscribedNodeNames
         # self.subscribedNodeNames={"Neophasia": 1}
 
         self.personSubs =[]
@@ -48,15 +48,14 @@ def __init__(self):
             for key in self.subscribedNodeNames.keys():
                 fullTopicName = HUMAN_SUB_PREPEND + key
 
-                #print fullTopicName
                 self.personSubs.append(rospy.Subscriber(
                         fullTopicName,
                         or_pose_estimator_state,
                         self.updateMocapPersonPose_callback,
                         self.subscribedNodeNames[key]))
                 new_node =SceneNode(label="human")
                 shape = Mesh("package://uwds3/models/cad_models/human/cylinder_man.urdf",
-                         x=0, y=0, z=0,
+                         x=0, y=-0.4, z=0,
                          rx=0, ry=0, rz=0)
                 r,g,b=0,0,0
                 shape.color[0] = r
Original file line number	Diff line number	Diff line change
		@@ -1 +1 @@
		optitrack_human_topic_names: {"Helmet_2": 1,"Helmet_4": 2}
		optitrack_human_topic_names: {"Helmet_2": 1}