ROS2 package made to recognize, track and follow a human.
The person recognition is based on the work done by [1] original repository can be found at https://github.com/ifzhang/ByteTrack . In this project we are using a modified version available at https://github.com/malwaru/ByteTrack
- To install the package specific requirements. Move to the root folder of the package
pip3 install -r requirements.txt
The package depends on ByteTrack located in the src folder
This has to be installed as a python package to do this
cdinto the particular package root folder- run the command
pip install -e . - Then install their particular requirements using
pip3 install -r requirements.txt
First run the following script to launch the Intel Realsense camera
ros2 launch realsense2_camera d400e_rs_launch.py
To run the entire pipeline run the following command
ros2 launch person_following_robot follow_personIf you need to run individual scripts use the following format, Note: the namespace argument is important
ros2 run person_following_robot <script> --ros-args -r __ns:=/person_following_robot
- Load all the topic names from a config file in each script
- Load the frames from handcart description file instead of static transformer
- Check with romatris_handcart_description packahe to include realsense_description file
- Create one master package or script to load all packages
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Currently in active development
[1] Zhang, Yifu / Sun, Peize / Jiang, Yi / Yu, Dongdong / Weng, Fucheng / Yuan, Zehuan / Luo, Ping / Liu, Wenyu / Wang, Xinggang ByteTrack: Multi-Object Tracking by Associating Every Detection Box ,2022 Proceedings of the European Conference on Computer Vision (ECCV)