hdl_people_tracking (ROS 2)

This is a ROS 2 port of the hdl_people_tracking package.

Build

cd ~/nav_ws
colcon build --packages-select hdl_people_tracking
source install/setup.bash

Usage

Launch the people tracking nodes:

ros2 launch hdl_people_tracking hdl_people_tracking.launch.py

Arguments:

• static_sensor (default: false): Set to true if the sensor is fixed (not moving).

Input Topics

• /velodyne_points (sensor_msgs/msg/PointCloud2): Input 3D point cloud.
• /odom (nav_msgs/msg/Odometry): Robot odometry (required if static_sensor is false).

Output Topics

• clusters (hdl_people_tracking/msg/ClusterArray): Detected clusters.
• tracks (hdl_people_tracking/msg/TrackArray): Tracked people.
• markers (visualization_msgs/msg/MarkerArray): Visualization markers for tracks.
• detection_markers (visualization_msgs/msg/MarkerArray): Visualization markers for detections.