def talker():
    pub = rospy.Publisher('/delta/ground_truth/vehicles', VehicleGroundTruthArray, queue_size=10)
    rospy.init_node('vehicle_ground_truth_publisher_test', anonymous=True)
    r = rospy.Rate(0.25)
    while (not rospy.is_shutdown()):
        msg = VehicleGroundTruthArray()
        for i in range(random.randrange(5)):
            vehicle = VehicleGroundTruth()
            vehicle.class_name = random.choice(random_vehicles)
            vehicle.left = random.randint(0, 1000)
            vehicle.top = random.randint(0, 1000)
            vehicle.right = random.randint(0, 1000)
            vehicle.bottom = random.randint(0, 1000)
            vehicle.distance = (random.random() * 150)
            vehicle.difficult = (vehicle.distance > 50)
            msg.vehicles.append(vehicle)
        print('Sending')
        msg.header.stamp = rospy.Time.now()
        pub.publish(msg)
        r.sleep()
def talker():
    pub = rospy.Publisher('/delta/ground_truth/vehicles', VehicleGroundTruthArray, queue_size=10)
    rospy.init_node('vehicle_ground_truth_publisher_test', anonymous=True)
    r = rospy.Rate(0.25)
    while (not rospy.is_shutdown()):
        msg = VehicleGroundTruthArray()
        for i in range(random.randrange(5)):
            vehicle = VehicleGroundTruth()
            vehicle.class_name = random.choice(random_vehicles)
            vehicle.left = random.randint(0, 1000)
            vehicle.top = random.randint(0, 1000)
            vehicle.right = random.randint(0, 1000)
            vehicle.bottom = random.randint(0, 1000)
            vehicle.distance = (random.random() * 150)
            vehicle.difficult = (vehicle.distance > 50)
            msg.vehicles.append(vehicle)
        print('Sending')
        msg.header.stamp = rospy.Time.now()
        pub.publish(msg)
        r.sleep()