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pedestrian_tracking package from brne_social_nav repo

brne_py crowd_nav crowd_nav_interfaces pedestrian_tracking

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.0.0
License MIT
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/katie-hughes/brne_social_nav.git
VCS Type git
VCS Version main
Last Updated 2024-03-21
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Track pedestrians for crowd navigation

Additional Links

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Maintainers

  • Katie Hughes

Authors

No additional authors.
pedestrian_tracking/README.md

pedestrian_tracking

Author: Katie Hughes

This is a ROS 2 package designed to publish the location of pedestrians and the robot, either through the use of the ZED camera or simulated.

Nodes

  • convert_zed: This converts the ZED pedestrian message type (zed_interfaces::msg::ObjectsStamped) into my custom pedestrian message type (crowd_nav_interfaces::msg::PedestrianArray) which is more succinct. It also converts the pedestrian locations into the brne_odom frame by creating a tf frame for them.
  • show_pedestrians: This node converts the PedestrianArray message type to markers are visualized as cylinders in RVIZ, with arrows that show the pedestrian’s velocity.
  • simulate_pedestrians: Publishes simulated pedestrian data. You can set the number of static pedestrians as a parameter, or choose to simulate a moving pedestrian that walks towards the robot.

Launchfiles

  • zed.launch.xml: Launches the ZED using the ZED ROS 2 wrapper with the appropriate configuration.
  • perception.launch.xml: Launches entire perception stack, either real or simulated. This includes conversion to my custom message types and setting up the tf frames to be continuous.
CHANGELOG
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Wiki Tutorials

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Launch files

Messages

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Services

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Plugins

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Recent questions tagged pedestrian_tracking at Robotics Stack Exchange

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