CLOiSim-ROS GroundTruth Plugin

Package Summary

Tags	No category tags.
Version	4.8.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	ROS2 simulation device packages to connect unity based multi-robot simulator CLOisim.
Checkout URI	https://github.com/lge-ros2/cloisim_ros.git
VCS Type	git
VCS Version	main
Last Updated	2025-10-15
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	docker device robot robotics simulation sensor ros bridge ros2 robotics-simulation foxy cloisim multi-robot-simulator cloisim-ros
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

world plugin to retrieve ground truth

Additional Links

No additional links.

Maintainers

Hyunseok Yang

Authors

Hyunseok Yang

CLOiSim-ROS GroundTruth Plugin

ros2 run cloisim_ros_ground_truth standalone
ros2 run cloisim_ros_ground_truth standalone --ros-args -p target_parts_name:=tracking

How to configure

if you want to tracking dynamic props, set enable attribute in <props> element to true.

<plugin name="GroundTruthPlugin" filename="libGroundTruthPlugin.so">
  <publish_frequency>5</publish_frequency>
  <props enable="true">
    <prop class_id="10">box</prop>
    <prop class_id="11">cylinder</prop>
    <prop class_id="12">sphere</prop>
  </props>
  <list>
    <target tracking_id="1" class_id="101">L9S</target>
    <target tracking_id="11" class_id="100">Former1</target>
  </list>
</plugin>

samples

You need to configure the ground truth list from here.

How to monitor the message of topic

ros2 topic echo /ground_truth

Examples of outputs

```bash

header: stamp: sec: 7 nanosec: 259999837 frame_id: ‘’ objects:

header: stamp: sec: 7 nanosec: 259999837 frame_id: ‘’ tracking_id: 0 class_id: 101 position: x: -43.8023567199707 y: -28.77000617980957 z: -6.612044334411621 velocity: x: 0.0 y: -0.0 z: 2.6813422664417885e-05 size: x: 0.8143882751464844 y: -0.5866775512695312 z: 1.3645973205566406 footprint: points:
- x: -0.031848907470703125 y: 0.2933387756347656 z: 0.0
- x: -0.030796051025390625 y: 0.2933387756347656 z: 0.0
- x: -0.030796051025390625 y: 0.2933387756347656 z: 0.0
- ‘…’
header: stamp: sec: 7 nanosec: 259999837 frame_id: ‘’ tracking_id: 1 class_id: 100 position: x: -35.91999816894531 y: -28.219999313354492 z: -6.590000152587891 velocity: x: 0.0 y: -0.0 z: 0.0 size: x: 0.3796844482421875 y: -0.3796844482421875 z: 1.5396394729614258 footprint: points:
- x: 0.0

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	perception_msgs
	ament_cmake
	cloisim_ros_bringup_param
	cloisim_ros_base

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
cloisim_ros_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `cloisim_ros_ground_truth` at Robotics Stack Exchange

No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.

cloisim_ros_ground_truth package from cloisim_ros repo

cloisim_ros_actor cloisim_ros_base cloisim_ros_bridge_zmq cloisim_ros_bringup cloisim_ros_bringup_param cloisim_ros_camera cloisim_ros_contact cloisim_ros_elevator_system cloisim_ros_gps cloisim_ros_ground_truth cloisim_ros_imu cloisim_ros_joint_control cloisim_ros_lidar cloisim_ros_micom cloisim_ros_msgs cloisim_ros_multicamera cloisim_ros_protobuf_msgs cloisim_ros_range cloisim_ros_realsense cloisim_ros_websocket_service cloisim_ros_world

ROS Distro
github

Package Summary

Tags	No category tags.
Version	4.8.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	ROS2 simulation device packages to connect unity based multi-robot simulator CLOisim.
Checkout URI	https://github.com/lge-ros2/cloisim_ros.git
VCS Type	git
VCS Version	main
Last Updated	2025-10-15
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	docker device robot robotics simulation sensor ros bridge ros2 robotics-simulation foxy cloisim multi-robot-simulator cloisim-ros
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

world plugin to retrieve ground truth

Additional Links

No additional links.

Maintainers

Hyunseok Yang

Authors

Hyunseok Yang

CLOiSim-ROS GroundTruth Plugin

ros2 run cloisim_ros_ground_truth standalone
ros2 run cloisim_ros_ground_truth standalone --ros-args -p target_parts_name:=tracking

How to configure

if you want to tracking dynamic props, set enable attribute in <props> element to true.

<plugin name="GroundTruthPlugin" filename="libGroundTruthPlugin.so">
  <publish_frequency>5</publish_frequency>
  <props enable="true">
    <prop class_id="10">box</prop>
    <prop class_id="11">cylinder</prop>
    <prop class_id="12">sphere</prop>
  </props>
  <list>
    <target tracking_id="1" class_id="101">L9S</target>
    <target tracking_id="11" class_id="100">Former1</target>
  </list>
</plugin>

samples

You need to configure the ground truth list from here.

How to monitor the message of topic

ros2 topic echo /ground_truth

Examples of outputs

```bash

header: stamp: sec: 7 nanosec: 259999837 frame_id: ‘’ objects:

header: stamp: sec: 7 nanosec: 259999837 frame_id: ‘’ tracking_id: 0 class_id: 101 position: x: -43.8023567199707 y: -28.77000617980957 z: -6.612044334411621 velocity: x: 0.0 y: -0.0 z: 2.6813422664417885e-05 size: x: 0.8143882751464844 y: -0.5866775512695312 z: 1.3645973205566406 footprint: points:
- x: -0.031848907470703125 y: 0.2933387756347656 z: 0.0
- x: -0.030796051025390625 y: 0.2933387756347656 z: 0.0
- x: -0.030796051025390625 y: 0.2933387756347656 z: 0.0
- ‘…’
header: stamp: sec: 7 nanosec: 259999837 frame_id: ‘’ tracking_id: 1 class_id: 100 position: x: -35.91999816894531 y: -28.219999313354492 z: -6.590000152587891 velocity: x: 0.0 y: -0.0 z: 0.0 size: x: 0.3796844482421875 y: -0.3796844482421875 z: 1.5396394729614258 footprint: points:
- x: 0.0

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	perception_msgs
	ament_cmake
	cloisim_ros_bringup_param
	cloisim_ros_base

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
cloisim_ros_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `cloisim_ros_ground_truth` at Robotics Stack Exchange

No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.

cloisim_ros_ground_truth package from cloisim_ros repo

cloisim_ros_actor cloisim_ros_base cloisim_ros_bridge_zmq cloisim_ros_bringup cloisim_ros_bringup_param cloisim_ros_camera cloisim_ros_contact cloisim_ros_elevator_system cloisim_ros_gps cloisim_ros_ground_truth cloisim_ros_imu cloisim_ros_joint_control cloisim_ros_lidar cloisim_ros_micom cloisim_ros_msgs cloisim_ros_multicamera cloisim_ros_protobuf_msgs cloisim_ros_range cloisim_ros_realsense cloisim_ros_websocket_service cloisim_ros_world

ROS Distro
github

Package Summary

Tags	No category tags.
Version	4.8.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	ROS2 simulation device packages to connect unity based multi-robot simulator CLOisim.
Checkout URI	https://github.com/lge-ros2/cloisim_ros.git
VCS Type	git
VCS Version	main
Last Updated	2025-10-15
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	docker device robot robotics simulation sensor ros bridge ros2 robotics-simulation foxy cloisim multi-robot-simulator cloisim-ros
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

world plugin to retrieve ground truth

Additional Links

No additional links.

Maintainers

Hyunseok Yang

Authors

Hyunseok Yang

CLOiSim-ROS GroundTruth Plugin

ros2 run cloisim_ros_ground_truth standalone
ros2 run cloisim_ros_ground_truth standalone --ros-args -p target_parts_name:=tracking

How to configure

if you want to tracking dynamic props, set enable attribute in <props> element to true.

<plugin name="GroundTruthPlugin" filename="libGroundTruthPlugin.so">
  <publish_frequency>5</publish_frequency>
  <props enable="true">
    <prop class_id="10">box</prop>
    <prop class_id="11">cylinder</prop>
    <prop class_id="12">sphere</prop>
  </props>
  <list>
    <target tracking_id="1" class_id="101">L9S</target>
    <target tracking_id="11" class_id="100">Former1</target>
  </list>
</plugin>

samples

You need to configure the ground truth list from here.

How to monitor the message of topic

ros2 topic echo /ground_truth

Examples of outputs

```bash

header: stamp: sec: 7 nanosec: 259999837 frame_id: ‘’ objects:

header: stamp: sec: 7 nanosec: 259999837 frame_id: ‘’ tracking_id: 0 class_id: 101 position: x: -43.8023567199707 y: -28.77000617980957 z: -6.612044334411621 velocity: x: 0.0 y: -0.0 z: 2.6813422664417885e-05 size: x: 0.8143882751464844 y: -0.5866775512695312 z: 1.3645973205566406 footprint: points:
- x: -0.031848907470703125 y: 0.2933387756347656 z: 0.0
- x: -0.030796051025390625 y: 0.2933387756347656 z: 0.0
- x: -0.030796051025390625 y: 0.2933387756347656 z: 0.0
- ‘…’
header: stamp: sec: 7 nanosec: 259999837 frame_id: ‘’ tracking_id: 1 class_id: 100 position: x: -35.91999816894531 y: -28.219999313354492 z: -6.590000152587891 velocity: x: 0.0 y: -0.0 z: 0.0 size: x: 0.3796844482421875 y: -0.3796844482421875 z: 1.5396394729614258 footprint: points:
- x: 0.0

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	perception_msgs
	ament_cmake
	cloisim_ros_bringup_param
	cloisim_ros_base

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
cloisim_ros_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `cloisim_ros_ground_truth` at Robotics Stack Exchange

No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.

cloisim_ros_ground_truth package from cloisim_ros repo

cloisim_ros_actor cloisim_ros_base cloisim_ros_bridge_zmq cloisim_ros_bringup cloisim_ros_bringup_param cloisim_ros_camera cloisim_ros_contact cloisim_ros_elevator_system cloisim_ros_gps cloisim_ros_ground_truth cloisim_ros_imu cloisim_ros_joint_control cloisim_ros_lidar cloisim_ros_micom cloisim_ros_msgs cloisim_ros_multicamera cloisim_ros_protobuf_msgs cloisim_ros_range cloisim_ros_realsense cloisim_ros_websocket_service cloisim_ros_world

ROS Distro
github

Package Summary

Tags	No category tags.
Version	4.8.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	ROS2 simulation device packages to connect unity based multi-robot simulator CLOisim.
Checkout URI	https://github.com/lge-ros2/cloisim_ros.git
VCS Type	git
VCS Version	main
Last Updated	2025-10-15
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	docker device robot robotics simulation sensor ros bridge ros2 robotics-simulation foxy cloisim multi-robot-simulator cloisim-ros
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

world plugin to retrieve ground truth

Additional Links

No additional links.

Maintainers

Hyunseok Yang

Authors

Hyunseok Yang

CLOiSim-ROS GroundTruth Plugin

ros2 run cloisim_ros_ground_truth standalone
ros2 run cloisim_ros_ground_truth standalone --ros-args -p target_parts_name:=tracking

How to configure

if you want to tracking dynamic props, set enable attribute in <props> element to true.

<plugin name="GroundTruthPlugin" filename="libGroundTruthPlugin.so">
  <publish_frequency>5</publish_frequency>
  <props enable="true">
    <prop class_id="10">box</prop>
    <prop class_id="11">cylinder</prop>
    <prop class_id="12">sphere</prop>
  </props>
  <list>
    <target tracking_id="1" class_id="101">L9S</target>
    <target tracking_id="11" class_id="100">Former1</target>
  </list>
</plugin>

samples

You need to configure the ground truth list from here.

How to monitor the message of topic

ros2 topic echo /ground_truth

Examples of outputs

```bash

header: stamp: sec: 7 nanosec: 259999837 frame_id: ‘’ objects:

header: stamp: sec: 7 nanosec: 259999837 frame_id: ‘’ tracking_id: 0 class_id: 101 position: x: -43.8023567199707 y: -28.77000617980957 z: -6.612044334411621 velocity: x: 0.0 y: -0.0 z: 2.6813422664417885e-05 size: x: 0.8143882751464844 y: -0.5866775512695312 z: 1.3645973205566406 footprint: points:
- x: -0.031848907470703125 y: 0.2933387756347656 z: 0.0
- x: -0.030796051025390625 y: 0.2933387756347656 z: 0.0
- x: -0.030796051025390625 y: 0.2933387756347656 z: 0.0
- ‘…’
header: stamp: sec: 7 nanosec: 259999837 frame_id: ‘’ tracking_id: 1 class_id: 100 position: x: -35.91999816894531 y: -28.219999313354492 z: -6.590000152587891 velocity: x: 0.0 y: -0.0 z: 0.0 size: x: 0.3796844482421875 y: -0.3796844482421875 z: 1.5396394729614258 footprint: points:
- x: 0.0

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	perception_msgs
	ament_cmake
	cloisim_ros_bringup_param
	cloisim_ros_base

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
cloisim_ros_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `cloisim_ros_ground_truth` at Robotics Stack Exchange

cloisim_ros_ground_truth package from cloisim_ros repo

cloisim_ros_actor cloisim_ros_base cloisim_ros_bridge_zmq cloisim_ros_bringup cloisim_ros_bringup_param cloisim_ros_camera cloisim_ros_contact cloisim_ros_elevator_system cloisim_ros_gps cloisim_ros_ground_truth cloisim_ros_imu cloisim_ros_joint_control cloisim_ros_lidar cloisim_ros_micom cloisim_ros_msgs cloisim_ros_multicamera cloisim_ros_protobuf_msgs cloisim_ros_range cloisim_ros_realsense cloisim_ros_websocket_service cloisim_ros_world

ROS Distro
github

Package Summary

Tags	No category tags.
Version	4.8.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	ROS2 simulation device packages to connect unity based multi-robot simulator CLOisim.
Checkout URI	https://github.com/lge-ros2/cloisim_ros.git
VCS Type	git
VCS Version	main
Last Updated	2025-10-15
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	docker device robot robotics simulation sensor ros bridge ros2 robotics-simulation foxy cloisim multi-robot-simulator cloisim-ros
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

world plugin to retrieve ground truth

Additional Links

No additional links.

Maintainers

Hyunseok Yang

Authors

Hyunseok Yang

CLOiSim-ROS GroundTruth Plugin

ros2 run cloisim_ros_ground_truth standalone
ros2 run cloisim_ros_ground_truth standalone --ros-args -p target_parts_name:=tracking

How to configure

if you want to tracking dynamic props, set enable attribute in <props> element to true.

<plugin name="GroundTruthPlugin" filename="libGroundTruthPlugin.so">
  <publish_frequency>5</publish_frequency>
  <props enable="true">
    <prop class_id="10">box</prop>
    <prop class_id="11">cylinder</prop>
    <prop class_id="12">sphere</prop>
  </props>
  <list>
    <target tracking_id="1" class_id="101">L9S</target>
    <target tracking_id="11" class_id="100">Former1</target>
  </list>
</plugin>

samples

You need to configure the ground truth list from here.

How to monitor the message of topic

ros2 topic echo /ground_truth

Examples of outputs

```bash

header: stamp: sec: 7 nanosec: 259999837 frame_id: ‘’ objects:

header: stamp: sec: 7 nanosec: 259999837 frame_id: ‘’ tracking_id: 0 class_id: 101 position: x: -43.8023567199707 y: -28.77000617980957 z: -6.612044334411621 velocity: x: 0.0 y: -0.0 z: 2.6813422664417885e-05 size: x: 0.8143882751464844 y: -0.5866775512695312 z: 1.3645973205566406 footprint: points:
- x: -0.031848907470703125 y: 0.2933387756347656 z: 0.0
- x: -0.030796051025390625 y: 0.2933387756347656 z: 0.0
- x: -0.030796051025390625 y: 0.2933387756347656 z: 0.0
- ‘…’
header: stamp: sec: 7 nanosec: 259999837 frame_id: ‘’ tracking_id: 1 class_id: 100 position: x: -35.91999816894531 y: -28.219999313354492 z: -6.590000152587891 velocity: x: 0.0 y: -0.0 z: 0.0 size: x: 0.3796844482421875 y: -0.3796844482421875 z: 1.5396394729614258 footprint: points:
- x: 0.0

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	perception_msgs
	ament_cmake
	cloisim_ros_bringup_param
	cloisim_ros_base

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
cloisim_ros_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `cloisim_ros_ground_truth` at Robotics Stack Exchange

No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.

cloisim_ros_ground_truth package from cloisim_ros repo

cloisim_ros_actor cloisim_ros_base cloisim_ros_bridge_zmq cloisim_ros_bringup cloisim_ros_bringup_param cloisim_ros_camera cloisim_ros_contact cloisim_ros_elevator_system cloisim_ros_gps cloisim_ros_ground_truth cloisim_ros_imu cloisim_ros_joint_control cloisim_ros_lidar cloisim_ros_micom cloisim_ros_msgs cloisim_ros_multicamera cloisim_ros_protobuf_msgs cloisim_ros_range cloisim_ros_realsense cloisim_ros_websocket_service cloisim_ros_world

ROS Distro
github

Package Summary

Tags	No category tags.
Version	4.8.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	ROS2 simulation device packages to connect unity based multi-robot simulator CLOisim.
Checkout URI	https://github.com/lge-ros2/cloisim_ros.git
VCS Type	git
VCS Version	main
Last Updated	2025-10-15
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	docker device robot robotics simulation sensor ros bridge ros2 robotics-simulation foxy cloisim multi-robot-simulator cloisim-ros
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

world plugin to retrieve ground truth

Additional Links

No additional links.

Maintainers

Hyunseok Yang

Authors

Hyunseok Yang

CLOiSim-ROS GroundTruth Plugin

ros2 run cloisim_ros_ground_truth standalone
ros2 run cloisim_ros_ground_truth standalone --ros-args -p target_parts_name:=tracking

How to configure

if you want to tracking dynamic props, set enable attribute in <props> element to true.

<plugin name="GroundTruthPlugin" filename="libGroundTruthPlugin.so">
  <publish_frequency>5</publish_frequency>
  <props enable="true">
    <prop class_id="10">box</prop>
    <prop class_id="11">cylinder</prop>
    <prop class_id="12">sphere</prop>
  </props>
  <list>
    <target tracking_id="1" class_id="101">L9S</target>
    <target tracking_id="11" class_id="100">Former1</target>
  </list>
</plugin>

samples

You need to configure the ground truth list from here.

How to monitor the message of topic

ros2 topic echo /ground_truth

Examples of outputs

```bash

header: stamp: sec: 7 nanosec: 259999837 frame_id: ‘’ objects:

header: stamp: sec: 7 nanosec: 259999837 frame_id: ‘’ tracking_id: 0 class_id: 101 position: x: -43.8023567199707 y: -28.77000617980957 z: -6.612044334411621 velocity: x: 0.0 y: -0.0 z: 2.6813422664417885e-05 size: x: 0.8143882751464844 y: -0.5866775512695312 z: 1.3645973205566406 footprint: points:
- x: -0.031848907470703125 y: 0.2933387756347656 z: 0.0
- x: -0.030796051025390625 y: 0.2933387756347656 z: 0.0
- x: -0.030796051025390625 y: 0.2933387756347656 z: 0.0
- ‘…’
header: stamp: sec: 7 nanosec: 259999837 frame_id: ‘’ tracking_id: 1 class_id: 100 position: x: -35.91999816894531 y: -28.219999313354492 z: -6.590000152587891 velocity: x: 0.0 y: -0.0 z: 0.0 size: x: 0.3796844482421875 y: -0.3796844482421875 z: 1.5396394729614258 footprint: points:
- x: 0.0

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	perception_msgs
	ament_cmake
	cloisim_ros_bringup_param
	cloisim_ros_base

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
cloisim_ros_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `cloisim_ros_ground_truth` at Robotics Stack Exchange

No version for distro iron showing github. Known supported distros are highlighted in the buttons above.

cloisim_ros_ground_truth package from cloisim_ros repo

cloisim_ros_actor cloisim_ros_base cloisim_ros_bridge_zmq cloisim_ros_bringup cloisim_ros_bringup_param cloisim_ros_camera cloisim_ros_contact cloisim_ros_elevator_system cloisim_ros_gps cloisim_ros_ground_truth cloisim_ros_imu cloisim_ros_joint_control cloisim_ros_lidar cloisim_ros_micom cloisim_ros_msgs cloisim_ros_multicamera cloisim_ros_protobuf_msgs cloisim_ros_range cloisim_ros_realsense cloisim_ros_websocket_service cloisim_ros_world

ROS Distro
github

Package Summary

Tags	No category tags.
Version	4.8.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	ROS2 simulation device packages to connect unity based multi-robot simulator CLOisim.
Checkout URI	https://github.com/lge-ros2/cloisim_ros.git
VCS Type	git
VCS Version	main
Last Updated	2025-10-15
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	docker device robot robotics simulation sensor ros bridge ros2 robotics-simulation foxy cloisim multi-robot-simulator cloisim-ros
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

world plugin to retrieve ground truth

Additional Links

No additional links.

Maintainers

Hyunseok Yang

Authors

Hyunseok Yang

CLOiSim-ROS GroundTruth Plugin

ros2 run cloisim_ros_ground_truth standalone
ros2 run cloisim_ros_ground_truth standalone --ros-args -p target_parts_name:=tracking

How to configure

if you want to tracking dynamic props, set enable attribute in <props> element to true.

<plugin name="GroundTruthPlugin" filename="libGroundTruthPlugin.so">
  <publish_frequency>5</publish_frequency>
  <props enable="true">
    <prop class_id="10">box</prop>
    <prop class_id="11">cylinder</prop>
    <prop class_id="12">sphere</prop>
  </props>
  <list>
    <target tracking_id="1" class_id="101">L9S</target>
    <target tracking_id="11" class_id="100">Former1</target>
  </list>
</plugin>

samples

You need to configure the ground truth list from here.

How to monitor the message of topic

ros2 topic echo /ground_truth

Examples of outputs

```bash

header: stamp: sec: 7 nanosec: 259999837 frame_id: ‘’ objects:

header: stamp: sec: 7 nanosec: 259999837 frame_id: ‘’ tracking_id: 0 class_id: 101 position: x: -43.8023567199707 y: -28.77000617980957 z: -6.612044334411621 velocity: x: 0.0 y: -0.0 z: 2.6813422664417885e-05 size: x: 0.8143882751464844 y: -0.5866775512695312 z: 1.3645973205566406 footprint: points:
- x: -0.031848907470703125 y: 0.2933387756347656 z: 0.0
- x: -0.030796051025390625 y: 0.2933387756347656 z: 0.0
- x: -0.030796051025390625 y: 0.2933387756347656 z: 0.0
- ‘…’
header: stamp: sec: 7 nanosec: 259999837 frame_id: ‘’ tracking_id: 1 class_id: 100 position: x: -35.91999816894531 y: -28.219999313354492 z: -6.590000152587891 velocity: x: 0.0 y: -0.0 z: 0.0 size: x: 0.3796844482421875 y: -0.3796844482421875 z: 1.5396394729614258 footprint: points:
- x: 0.0

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	perception_msgs
	ament_cmake
	cloisim_ros_bringup_param
	cloisim_ros_base

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
cloisim_ros_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `cloisim_ros_ground_truth` at Robotics Stack Exchange

No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.

cloisim_ros_ground_truth package from cloisim_ros repo

cloisim_ros_actor cloisim_ros_base cloisim_ros_bridge_zmq cloisim_ros_bringup cloisim_ros_bringup_param cloisim_ros_camera cloisim_ros_contact cloisim_ros_elevator_system cloisim_ros_gps cloisim_ros_ground_truth cloisim_ros_imu cloisim_ros_joint_control cloisim_ros_lidar cloisim_ros_micom cloisim_ros_msgs cloisim_ros_multicamera cloisim_ros_protobuf_msgs cloisim_ros_range cloisim_ros_realsense cloisim_ros_websocket_service cloisim_ros_world

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	4.8.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	ROS2 simulation device packages to connect unity based multi-robot simulator CLOisim.
Checkout URI	https://github.com/lge-ros2/cloisim_ros.git
VCS Type	git
VCS Version	main
Last Updated	2025-10-15
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	docker device robot robotics simulation sensor ros bridge ros2 robotics-simulation foxy cloisim multi-robot-simulator cloisim-ros
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

world plugin to retrieve ground truth

Additional Links

No additional links.

Maintainers

Hyunseok Yang

Authors

Hyunseok Yang

CLOiSim-ROS GroundTruth Plugin

ros2 run cloisim_ros_ground_truth standalone
ros2 run cloisim_ros_ground_truth standalone --ros-args -p target_parts_name:=tracking

How to configure

if you want to tracking dynamic props, set enable attribute in <props> element to true.

<plugin name="GroundTruthPlugin" filename="libGroundTruthPlugin.so">
  <publish_frequency>5</publish_frequency>
  <props enable="true">
    <prop class_id="10">box</prop>
    <prop class_id="11">cylinder</prop>
    <prop class_id="12">sphere</prop>
  </props>
  <list>
    <target tracking_id="1" class_id="101">L9S</target>
    <target tracking_id="11" class_id="100">Former1</target>
  </list>
</plugin>

samples

You need to configure the ground truth list from here.

How to monitor the message of topic

ros2 topic echo /ground_truth

Examples of outputs

```bash

header: stamp: sec: 7 nanosec: 259999837 frame_id: ‘’ objects:

header: stamp: sec: 7 nanosec: 259999837 frame_id: ‘’ tracking_id: 0 class_id: 101 position: x: -43.8023567199707 y: -28.77000617980957 z: -6.612044334411621 velocity: x: 0.0 y: -0.0 z: 2.6813422664417885e-05 size: x: 0.8143882751464844 y: -0.5866775512695312 z: 1.3645973205566406 footprint: points:
- x: -0.031848907470703125 y: 0.2933387756347656 z: 0.0
- x: -0.030796051025390625 y: 0.2933387756347656 z: 0.0
- x: -0.030796051025390625 y: 0.2933387756347656 z: 0.0
- ‘…’
header: stamp: sec: 7 nanosec: 259999837 frame_id: ‘’ tracking_id: 1 class_id: 100 position: x: -35.91999816894531 y: -28.219999313354492 z: -6.590000152587891 velocity: x: 0.0 y: -0.0 z: 0.0 size: x: 0.3796844482421875 y: -0.3796844482421875 z: 1.5396394729614258 footprint: points:
- x: 0.0

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	perception_msgs
	ament_cmake
	cloisim_ros_bringup_param
	cloisim_ros_base

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
cloisim_ros_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `cloisim_ros_ground_truth` at Robotics Stack Exchange

API Docs Browse Code Wiki

No version for distro noetic showing github. Known supported distros are highlighted in the buttons above.

cloisim_ros_ground_truth package from cloisim_ros repo

cloisim_ros_actor cloisim_ros_base cloisim_ros_bridge_zmq cloisim_ros_bringup cloisim_ros_bringup_param cloisim_ros_camera cloisim_ros_contact cloisim_ros_elevator_system cloisim_ros_gps cloisim_ros_ground_truth cloisim_ros_imu cloisim_ros_joint_control cloisim_ros_lidar cloisim_ros_micom cloisim_ros_msgs cloisim_ros_multicamera cloisim_ros_protobuf_msgs cloisim_ros_range cloisim_ros_realsense cloisim_ros_websocket_service cloisim_ros_world

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	4.8.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	ROS2 simulation device packages to connect unity based multi-robot simulator CLOisim.
Checkout URI	https://github.com/lge-ros2/cloisim_ros.git
VCS Type	git
VCS Version	main
Last Updated	2025-10-15
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	docker device robot robotics simulation sensor ros bridge ros2 robotics-simulation foxy cloisim multi-robot-simulator cloisim-ros
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

world plugin to retrieve ground truth

Additional Links

No additional links.

Maintainers

Hyunseok Yang

Authors

Hyunseok Yang