dynamic_obstacle_tracker

ROS package for tracking dynamic obstacles

Environment

• Ubuntu 20.04
• ROS Noetic

Dependencies

• dynamic_cloud_detector

Install and Build

cd /path/to/your/catkin_ws/src
git clone https://github.com/amslabtech/dynamic_obstacle_tracker.git
rosdep install -riy --from-paths . --rosdistro noetic            # Install dependencies
catkin build dynamic_obstacle_tracker -DCMAKE_BUILD_TYPE=Release # Release build is recommended

How to use

roslaunch dynamic_obstacle_tracker dynamic_obstacle_tracker.launch

Node I/O

Runtime requirement

TF (from the frame id of cloud to the global frame id) is required

Nodes

dynamic_obstacle_tracker

Published Topics

• /dynamic_obstacle/poses (geometry_msgs::PoseArray)
  • Poses of dynamic obstacles
• /dynamic_obstacle/trajectories (visualization_msgs::MarkerArray)
  • Trajectories of dynamic obstacles

Subscribed Topics

• /cloud/dynamic (sensor_msgs/PointCloud2)
  • Dynamic cloud

Parameters

• ~<name>/global_frame (string, default: map):
  The global frame id
• ~<name>/min_dist_th (float, default: 1.0 [m]):
  The minimum distance threshold for tracking