Bayesian Tracking - ashBabu/Utilities GitHub Wiki

Add the L-CAS public key to verify packages: (work only if you are a LCAS member)

curl -s http://lcas.lincoln.ac.uk/repos/public.key | sudo apt-key add -

Add the L-CAS repository:

sudo apt-add-repository http://lcas.lincoln.ac.uk/ubuntu/main sudo apt-get update

Note: if the above fails use cd /usr/lib/python3/dist-packages.
sudo cp apt_pkg.cpython-35m-x86_64-linux-gnu.so apt_pkg.so

Install the packages

sudo apt-get install ros-kinetic-bayes-tracking

sudo apt-get install ros-kinetic-bayes-people-tracker

Add the following files

1. detectors_test.yaml in bayes_people_tracker/config
2. tracker_simulation.launch in bayes_people_tracker/launch
3. Create a folder bayes_people_tracker/scripts and add virtual_people_detector.py and virtual_people_gt.py from the code (https://github.com/shyamashi/Utilities/tree/master/bayes_people_tracker)

Finally:

1. roscore
2. rosrun rviz rviz.
3. roslaunch bayes_people_tracker tracker_simulation.launch
4. Fixed Frame: base_link; Add-->By Topic--> people_tracker/MarkerArray; Add-->By Topic--> visualization_marker/Marker

The simulation runs only for a few seconds. Might have to restart the launch file to see it again

Some useful libraries on people perception

({https://github.com/strands-project/?utf8=%E2%9C%93&q=&type=&language=) (https://github.com/strands-project/strands_perception_people) (https://github.com/LCAS/bayestracking)