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Fix Python 3 issue and bug #95

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Fix Python 3 issue and bug #95

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c7ba846
Fix Python 3 issue and bug
LdwgWffnschmdt Feb 25, 2021
cc3541e
Missed one...
LdwgWffnschmdt Feb 25, 2021
a8758c9
Include PositionMeasurement in Person
Feb 25, 2021
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2 changes: 1 addition & 1 deletion people_msgs/msg/Person.msg
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Original file line number Diff line number Diff line change
Expand Up @@ -4,4 +4,4 @@ geometry_msgs/Point velocity
float64 reliability
string[] tagnames
string[] tags

people_msgs/PositionMeasurement position_measurement
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The other changes make sense, but why this one?

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Sorry, the last commit has nothing to do with this PR. I needed the covariance from the PositionMeasurement so I included it in the tracked message. Is it possible to exclude that commit from the PR?

7 changes: 4 additions & 3 deletions people_velocity_tracker/scripts/tracker.py
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Original file line number Diff line number Diff line change
Expand Up @@ -93,6 +93,7 @@ def get_person(self):
p.position = self.pos.pos
p.velocity = self.velocity()
p.reliability = self.reliability
p.position_measurement = self.pos
return self.pos.header.frame_id, p


Expand Down Expand Up @@ -123,9 +124,9 @@ def spin(self):
while not rospy.is_shutdown():
# Remove People Older Than timeout param
now = rospy.Time.now()
for p in self.people.values():
for p in list(self.people.values()):
if now - p.age() > self.TIMEOUT:
del self.people[p.id()]
del self.people[p.get_id()]
self.publish()
rate.sleep()

Expand All @@ -134,7 +135,7 @@ def publish(self):
pl = People()
pl.header.frame_id = None

for p in self.people.values():
for p in list(self.people.values()):
p.publish_markers(self.mpub)
frame, person = p.get_person()
pl.header.frame_id = frame
Expand Down