people tracking with LiDAR only

[ArtlyStyles]

I would like to track people but my robot has LiDAR only. How can I change the config file to track people?

[cdondrup]

Hi, you should be able to edit this file: https://github.com/strands-project/strands_perception_people/blob/kinetic-devel/bayes_people_tracker/config/detectors.yaml

Just remove all the detectors from the file that you do not have running. In theory though, if the detector is not present, it doesn't matter much. It should use whatever detector in this config file is publishing and doesn't wait for any of them. Haven't tested this in a while though.

[duda1202]

Hi,

I tried that. But whenever one sensor gets occluded, the tracker stops working properly. I have been using my own detectors but I have the right msg, PoseArray.
Also, if you comment one sensor out, it does not eliminate when launching the file. So if I add 3 sensors and I delete 2 of them. It would still show as if it is detecting 3.