2D Ground Truth Sensor in 2021.3 doesn't detect pedestrians (It works in 2021.2)

[zvika-waissbaum]

No description provided.

[revati-naik]

@zvika-waissbaum Could you please elaborate on the issue? Are you not able to see the bounding boxes on the pedestrians when you try to visualize the sensor output in the simulator? Or you do not get the data on the topic?

[zvika-waissbaum]

Hi, Both. No bounding box and no data in ROS2 bridge.

[EricBoiseLGSVL]

I'd make sure you have the latest 2d GT sensor. If you are using the old sensor with the new release code it will have many issues. Try to remove all local and cached sensors and make sure the sensor config is using the new sensor.
Also, be sure the sensor is not at origin, the vehicle will block detection of agents.

[zvika-waissbaum]

It's the latest 2D GT sensor and it is placed above the vehicle (not in the origin).

[EricBoiseLGSVL]

@zvika-waissbaum do you have any errors in the player.log? Any debug information would be helpful because we are not able to reproduce locally. Screen shots of the issue in play mode and of the sensor parameters would be great. Also the specs of the machine you are using with GPU/OS also will help.

[zvika-waissbaum]

OS:Linux
GPU: Nvidia RTX2070

Don't have any errors in the unity environment.

[zvika-waissbaum]

Maybe this is the issue?

[EricBoiseLGSVL]

Yes, this is the issue. Did you spawn/despawn multiple times during a run? Our max values for pedestrians shouldn't hit the limit. Did you alter the source code to have more?

[zvika-waissbaum]

No, I've spawn it once.
I'm attaching the python code.
It works in 2021.2 version.
Pedestrian.pdf

[EricBoiseLGSVL]

We will look into this, thanks for posting. @kamkolak-lge do you need any more info to debug?

[kamkolak-lge]

@zvika-waissbaum
Thank you for reporting the bug. It seems it's an issue with pedestrians spawned through Python API and does not affect simulation with random pedestrians.

If you could run a simulation with random pedestrians and 2D Ground Truth sensor to confirm the issue does not occur there, it would help us confirm the cause of this issue.

[zvika-waissbaum]

Yes, you are correct.
It works fine with random pedestrians.

[kamkolak-lge]

The issue has been fixed and will be included in the next release.

[zvika-waissbaum]

This bug really interferes with our development.
Can you upload a fix to the store with minor version change like 2021.3.1?

[EricBoiseLGSVL]

We will be pushing a fix to master soon.

[peter0617ku]

@EricBoiseLGSVL @kamkolak-lge @zvika-waissbaum

Sorry for disturbing you!
I'm having this problem. Glad to see that your company has resolved this issue.
Because the Github changelog shows that this issue doesn't seem to be updated.
May I ask if LGSVL sunset will affect the update of this version?
If master won't be updated, maybe be able to tell us which files to change?

Thank you so much!