Harmony

The harmony package developed for dynamic obstacle velocity estimation.

Installation

• Run rosdep update
• Run sudo apt install python3-vcstool
• Run vcs import --recursive --input harmony.repos

Usage

• Create a map using mapping.launch
• Save the map using map_saver in map_server (ensure the /map topic is saved)
• Dilate/inflate the map around static obstacles (plus some margin) using a painting program, e. g. Krita
• Ensure the modified map is loaded
• Run localization.launch, give an initial ICP estimate
• Run tracking.launch
• Enjoy!