This packge contains a logging node to save the detections to the message_store.
All the information given on how to run the nodes should only be used if you need to run them seperately. In normal cases please refer to the perception_people_launch package to start the whole perception pipeline.
This node uses the Logging.msg to save the detected people together with their realworld position, the robots pose, the upper body detector and people tracker results, and the tf transform used to create the real world coordinates in the message store.
Run with:
roslaunch bayes_people_tracker_logging logging.launch
Parameters:
log: Default: true This convenience parameter allows to start the whole system without logging the data
This assumes that your mongodb_store is running.
With version >1.1.8 the message type of the people tracker has been changed to include the velocities of humans as a Vector3. To update old database entries just run rosrun bayes_people_tracker_logging migrate.py which will update entries in place. Please be careful and create a copy of the people_perception collection in the message store before running this.