HsiaoRay/lidar_body_tracking

ROS Catkin package to track people using octree and cluster extraction

lidar_body_tracking

ROS Catkin package to track people using ortree and cluster extraction from a fixed point.
Sensor Used for testing: Quanergy M8
Written and tested on: Ubuntu 16.04, ROS Kinetic

Dependencies

This package depends on the people_msgs package:

1. sudo apt install ros-kinetic-easy-markers ros-kinetic-kalman-filter
2. git clone https://github.com/kdhansen/people ~/catkin_ws/src

Installation

1. Make your catkin workspace:
   1. mkdir -p ~/catkin_ws/src
   2. catkin_init_workspace ~/catkin_ws/src
   3. catkin_make -C ~/catkin_ws
2. Clone kdhansen/people to your workspace:
   1. git clone https://github.com/kdhansen/people ~/catkin_ws/src
3. Clone this repo to your workspace:
   1. git clone https://github.com/MyNameIsCosmo/lidar_body_tracking ~/catkin_ws/src
4. Source your workspace
   1. source ~/catkin_ws/devel/setup.sh
5. Build your workspace
   1. catkin_make -C ~/catkin_ws --pkg people_msgs
   2. catkin_make -C ~/catkin_ws

Running the tracking

1. Initialize your LIDAR, or play your ROSBAG
   1. rosbag play -l bagname.bag
2. Launch
   1. source ~/catkin_ws/devel/setup.sh
   2. roslaunch lidar_body_tracking lidar_body_tracking.launch

Notes

1. The URDF frame is QP308. You can change this in /urdf/m8.launch.xacro
2. You can change the default topics in the launch file /launch/lidar_body_tracking.launch

TODO:

• Dynamic Reconfigure for Link, Leaf size, min cluster, etc
• ROSParam for topics
• Clustering of indicies for person detection
• Output potential people to a topic
  • Calculate person velocity
  • Calculate certainty of person
  • Estimate person height, size
  • Track person based on previous location
  • people_msgs/Person does not include orientation
• Control an RVIZ marker or something
• Support body tracking while lidar is moving, loop closure and Odom tracking.
• Comment and document code
  • Object-oriented
  • Clean-up code

References

ROS WIKI URDF
ROS WIKI Xacro Reference