python3
def __init__(self):
super().__init__('object_tracking')
# Declare ROS parameters
self.declare_parameters(namespace='',
parameters=[('qos_length',0),
('topic.untracked_obj',''),
('topic.rgb_image',''),
('topic.tracked_obj',''),
('obj_class.id',[]),
('obj_class.name',[]),
('display',True),
('frame_id.tracked_obj','')])
self.nodeParams()
qos_length = self.get_parameter('qos_length').get_parameter_value().integer_value
qos_profile = QoSProfile(depth=qos_length,
history=QoSHistoryPolicy.KEEP_LAST,
reliability=QoSReliabilityPolicy.RELIABLE)
# Load cv_bridge
self.bridge = CvBridge()
# Create instance of SORT
self.mot_tracker = Sort()
# Create Subscribers
obj_topic = self.get_parameter('topic.untracked_obj').get_parameter_value().string_value
self.obj_sub = mf.Subscriber(self,ObjectArray,obj_topic,qos_profile=qos_profile)
rgb_topic = self.get_parameter('topic.rgb_image').get_parameter_value().string_value
self.rgb_sub = mf.Subscriber(self,Image,rgb_topic,qos_profile=qos_profile)
# Apply message filter
self.timestamp_sync = mf.TimeSynchronizer([self.obj_sub,self.rgb_sub],queue_size=qos_length)
self.timestamp_sync.registerCallback(self.objCallback)
# Create Publishers
obj_topic = self.get_parameter('topic.tracked_obj').get_parameter_value().string_value
self.obj_pub = self.create_publisher(ObjectArray,obj_topic,qos_profile)
def nodeParams(self):
#print('1')
self.display = self.get_parameter('display').get_parameter_value().bool_value
class_id = self.get_parameter('obj_class.id').get_parameter_value().integer_array_value
#print(class_id)
class_name = self.get_parameter('obj_class.name').get_parameter_value().integer_array_value
#print(class_name)
self.class_dict = {}
#for name in class_name:
'''#for i,id_ in enumerate(class_id):
#print('2')
#self.class_dict = class_name [name]
#print('3')'''
for i,id_ in enumerate(class_id):
self.class_dict[int(id_)] = class_name[i]
I'm not sure what's going on...I'd like to try object tracking in Carla 0.9.13 with ros2 foxy in Python 3.8. Could you please help me?
[object_tracking.py-3] self.nodeParams() [object_tracking.py-3] File "/home/smit/ros2_ws/install/carla_simulation/lib/carla_simulation/object_tracking.py", line 64, in nodeParams [object_tracking.py-3] self.class_dict[int(id_)] = class_name[i] [object_tracking.py-3] IndexError: array index out of range [ERROR] [object_tracking.py-3]: process has died [pid 623526, exit code 1, cmd '/home/smit/ros2_ws/install/carla_simulation/lib/carla_simulation/object_tracking.py --ros-args --params-file /home/smit/ros2_ws/install/carla_simulation/share/carla_simulation/config/params.yaml'].
