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I'm trying to generate training data with carla-simulator, and fetch image/pointcloud/objects information via carla-ros-bridge.
the problem is the message at
/carla/ego_vehicle/objects
or/carla/objects
topic with[derived_object_msgs](https://docs.ros.org/en/kinetic/api/derived_object_msgs/html/index-msg.html)/Object
type.I found the
object_sensor
is publishing objects like following behaviors:Object.pose.position
will be the position on the ground(x-y plane), but it will be adjust to pivot point when publishingMarker
.Object.pose.position
will be the pivot point of bounding box, and there is no adjustment before publishingMarker
.the reason, that I consider these behaviors are problematic, is the behaviors are not uniform, so I made this patch.
the reason, that I choose to modify the
walker.py
, is that the position is intentionally adjusted when publishingMarker
invehicle.py
, so I think maintainers are proposing to publishobjects
topic with position on the ground, but not the pivot point.please help me to confirm this MR, thanks.
This change is