Update tracker launch file to include vision and add how to doc
Description
Currently the launch file for tracker only includes lidar clusters as the perception input. It needs to add ground_truth_detections
node to enable publishing of vision detections once available from the LGSVL simulator. This extends #1067 (closed)
Definition of Done
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Extend the launch file to include ground_truth_detections
node -
Update tracker param to use vision and the appropriate track creation policy -
Sim sensor json file needs to be updated to include 2d detections. Find a good way to do this -
Create an md file on how to setup and the simulator and run the above launch file -
User should be able to follow the doc -
The objects should be colored by their class in rviz-> moved here: #1313 (closed) -
Untracked clusters are also shown as part of a separate topic-> will be tackled as part of #1314 (closed)
Edited by Igor Bogoslavskyi