Integrate Moving Obstacle Detector

[huckl3b3rry87]

Feature

Integrate the ROS package obstacle_detector into Autoware.

Motivation

The motication (and please let me know if I am wrong) is that (again from what I understand) the current obstacle detection algoritms in Autoware do not predict the, postion (x,y), velocty (x,y), and size (assuming circular obstacles) .

[tqshao]

TODO

• Install the obstacle_detector package as a submodule.

• Make an obstacle_detector launch file so that it subscribes the point cloud topic from Autoware.

• Test the performance of the obstacle_detector package.

[huckl3b3rry87]

TODO 2

• Set up obstacle_detector as per this
• Set up and test obstacle_detector as an example in Gazebo launch file, stationary platform
• Set up and test obstacle_detector as an example in Gazebo some code for this and the above item, moving platform
• set up obstacle detector_package with a real VLP16 some code for this here