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Multi person tracker using LaserScanner

This project aims at tracking multiple moving persons to visualize them on Rviz.

Overview

         geometry_msgs/Point                         Person[] persons                        Marker

LaserScanner -------------------> Moving Person Detector ----------------> Moving Person Tracker -----> Rviz Marker

Requirements

  1. ROS
  2. Python
  3. pip install pykalman
  4. rosbag files for LaserScanner data (or) Laser Scanner physical device

Steps to compile and run

  1. Place the follow_me folder inside your catkin workspace
  2. Run catkin_make
  3. Run roscore in a new terminal
  4. In a new terminal, run rosbag play <bag_file> if you have it or connect directly to laser scanner
  5. In a new terminal, run rosrun follow_me moving_person_detector_node
  6. In a new terminal, run rosrun follow_me tracker.py
  7. In a new terminal, run rviz and under Markers select track_persons option to see the tracking markers

Demo

See demo here