Harmony Moving Object Tracking

Description: The harmony package developed for dynamic obstacle velocity estimation.
Container: Humble base container

Installation

• Run git clone git@github.com:harmony-eu/moving_object_tracking.git and cd moving_object_tracking
• Run rosdep update
• Run sudo apt install python3-vcstool
• Run vcs import --recursive --input harmony.repos
• (Optional, if semantic_tracking is desired): The yolo_eth repo needs some further installation steps, see https://github.com/harmony-eu/yolo_eth/tree/humble-devel.

Usage

• Record an occupancy grid map of your environment with your favorite mapping tool (e.g. hector_mapping)
• Dilate/inflate the map around static obstacles (plus some margin) using a painting program, e. g. Krita
• Ensure the map and modified map are in the maps folder, and follow the naming convention.
• Check params in localization.launch.py, tracking.launch.py and semantics.launch.py.
• Run localization.launch.py to start the map server (assumes map-to-odom is provided by another node).
  Arguments:
  • location: (e.g. abb, eth ...), which is used to get the correct map from the maps folder.
• Run tracking.launch.py for object tracking (use tracking_nmcl.launch.py if you need to use the scan_merged topic from the nmcl node)
• (Optional) Run semantics.launch.py to launch YOLO node and semantic_tracking node, which project YOLO classes onto the tracked obstacles
• Enjoy!

Notes

The ROS1 version of this package also had launch files for mapping and localization. Those were not ported (localization is ported but untested and commented-out).

If some TF camera links are missing, you can use the tf_utils.launch.py file to launch a static TF broadcaster.