ROS2 Foxy compatible leg detector

General
1

We at mowito have released a ROS2 Foxy port of Leg Detector for obstacle detection and human detection.

Here’s a screenshot of its working on a 0.33 resolution scanner.

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The original repository worked only on ROS1 Melodic and wasn’t updated for a long time. We have ported the entire code to work on ROS2 Foxy, and have tested it on the example bags. It takes a 2D LiDAR scan and outputs an array of tracked legs in the vicinity of the robot.

If you want to try it out and give us feedback, follow the instructions here.

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2

okay, I am assuming, the red dots are the legs, but what are the green rings around them?

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The green circles depict the gates that are used for the matching of clusters to the existing tracks. A larger ring size indicates a larger Mahalanobis distance used for data association.

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A correction here, the green rings, as you asked @pururastogi, depict the inflation radius incorporated around the tracked human.

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