multi_target_kf

A ROS package with an implementation of a linear Kalman filter for multi-target state estimation.

For a ROS2 version, use the ros2_humble branch.

Dependencies

• Eigen3
• Some ROS packages: std_msgs, geometry_msgs, sensor_msgs

Usage

• Configure the Kalman filter parameters in the config/kf_tracker.yaml file
• Run the filter using

  roslaunch multi_target_kf kf_tracker.launch 

• Publish measurements (of one or multiple targets) to the topic measurement/pose_array, type of msg is geometry_msgs/PoseArray
• Estimated states are published in two topics
  • /kf/tracks positions and velocities
  • /kf/tracks_pose_array positions