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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

No additional links.

Maintainers

  • Katie Hughes

Authors

No additional authors.

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
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pedestrian_tracking at Robotics Stack Exchange

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