PoI

[hudsonhok]

I don't see the points of interest topic whenever I run the project startup and search the list of ros topics. Do I need to run additional commands?

[fpetric]

Do you have the latest version of the code? Can you post the output of the third terminal in the Gazebo tab of tmux?

[hudsonhok]

Yes, I should have the latest version.

[fpetric]

If you have the default setup, the topic should be /red/poi. The output of the terminal looks like it is being published, it's weird to me that you do not get the messages on the topic.

[t-thanh]

@fpetric I also don't see it in the latest build

rostopic echo /red/poi
WARNING: no messages received and simulated time is active.
Is /clock being published?

[fpetric]

are you sure you pulled latest changes into your local competition repo? From the screenshot I do not see Publishing pois printout that should be generated by this line.

(pull = git pull)

[t-thanh]

I did have the latest one, I think /red/poi only published in the beginning for the short period, I try to call it too late and can't catch it. I have them now. Thanks.

rostopic echo /red/poi
WARNING: topic [/red/poi] does not appear to be published yet
WARNING: no messages received and simulated time is active.
Is /clock being published?
poi: 
  - 
    x: 8.984210965022474
    y: 13.185783840281053
    z: 3.1206305442008793
  - 
    x: 12.36
    y: 46.2
    z: 8.662719818993356
  - 
    x: 12.36
    y: 44.5
    z: 5.501948073810526
  - 
    x: 3.000192653589495
    y: 41.36000000927885
    z: 8.3684061697314
  - 
    x: 3.9200000085846876
    y: 12.00018530717932
    z: 1.6232678125303286
  - 
    x: 9.300192653589496
    y: 41.36000000927885
    z: 2.1232426099244774
  - 
    x: 16.200192653589493
    y: 42.27500000927885
    z: 4.09570611456088
  - 
    x: 12.36
    y: 45.3
    z: 1.1311143753132336
  - 
    x: 8.34
    y: 11.0
    z: 1.7031900452834954
  - 
    x: 8.974210965022472
    y: 9.734216159718947
    z: 5.615976496873256
---

[fpetric]

Yes, the PoI message is published only once. It should be latched for 5s (i.e. if you subscribe to /red/poi or run rostopic echo within 5 seconds after publishing, you should get the message). After that, tile spawning node exits and the message is not available anymore. If you think it is necessary, we can keep the node alive so you get the message even if you subscribe later than those 5 seconds. You can add the following to the end of the spawn_tiles.py to keep the node alive:

r=rospy.Rate(1)
while not rospy.is_shutdown():
    r.sleep()