Setup your own person following robot

tf tree

Transformations between "odom" <-> "base_footprint" <--> "base_link" <--> "camera's frame" are needed to be defined. [example]

camera calibration

Make sure that the intrinsic and extrinsic parameters of your camera have been calibrated. You have to be able to subscribe the intrinsic parameters on camera_info topic, and a proper transformation between "camera_frame" and "base_footprint" must be available on tf.

Start

In case you use Pioneer mobile base and Jetson TX2, you can use the following launch files.

roscd monocular_person_following/rviz
rviz -d monocular_person_following.rviz

# publish tf transformations and start pioneer
roslaunch monocular_person_following start_robot.launch

# start people detection/tracking/identification
roslaunch monocular_people_following jetson_person_following.launch

# start robot controller
rosrun monocular_person_following robot_controller.py cmd_vel:=/RosAria/cmd_vel