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.
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.