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Updated readme with suuported pointcloud sources

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Praveen Palanisamy 2019-09-07 11:13:05 -07:00 committed by GitHub
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@ -21,4 +21,11 @@ Follow the steps below to use this (`multi_object_tracking_lidar`) package:
1. Add the catkin workspace to your ROS environment: `source ~/catkin_ws/devel/setup.bash` 1. Add the catkin workspace to your ROS environment: `source ~/catkin_ws/devel/setup.bash`
1. Run the `kf_tracker` ROS node in this package: `rosrun multi_object_tracking_lidar kf_tracker` 1. Run the `kf_tracker` ROS node in this package: `rosrun multi_object_tracking_lidar kf_tracker`
If all went well, the ROS node should be up and running! As long as you have the point clouds (from 1. A real LiDAR or 2. A simulated LiDAR or 3. A point cloud dataset or 4. Any other data source that produces point clouds) published on to the `filtered_cloud` rostopic, you should see outputs from this node published onto the `obj_id`, `cluster_0`, `cluster_1`, …, `cluster_5` topics along with the markers on `viz` topic which you can visualize using RViz. If all went well, the ROS node should be up and running! As long as you have the point clouds published on to the `filtered_cloud` rostopic, you should see outputs from this node published onto the `obj_id`, `cluster_0`, `cluster_1`, …, `cluster_5` topics along with the markers on `viz` topic which you can visualize using RViz.
### Supported point-cloud streams/sources:
The input point-clouds can be from:
1. A real LiDAR or
2. A simulated LiDAR or
3. A point cloud dataset or
4. Any other data source that produces point clouds