From 1842caa8a13ce8f99c194583bb62f89c3149b16f Mon Sep 17 00:00:00 2001 From: Praveen Palanisamy Date: Sat, 13 Apr 2019 14:13:45 -0400 Subject: [PATCH] Updated README with usage instructions --- README.md | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/README.md b/README.md index f28e012..0a5a67f 100644 --- a/README.md +++ b/README.md @@ -9,3 +9,16 @@ PCL based ROS package to Detect/Cluster --> Track --> Classify static and dynami - Unsupervised k-means clustering based on detected features and refinement using RANSAC - Stable tracking (object ID & data association) with an ensemble of Kalman Filters - Robust compared to k-means clustering with mean-flow tracking + +### Usage: + +Follow the steps below to use this (`multi_object_tracking_lidar`) package: + +1. [Create a catkin workspace](http://wiki.ros.org/catkin/Tutorials/create_a_workspace) (if you do not have one setup already). +1. Navigate to the `src` folder in your catkin workspace: `cd ~/catkin_ws/src` +1. Clone this repository: `git clone https://github.com/praveen-palanisamy/multiple-object-tracking-lidar.git` +1. Compile and build the package: `cd ~/catkin_ws && catkin_make` +1. Add the catkin workspace to your ROS environment: `source ~/catkin_ws/devel/setup.bash` +1. Run the `kf_tracker` ROS node in this package: `rosrun multi_object_tracking_lidar kf_tracker` + +If all went well, the ROS node should be up and running! As long as you have the point clouds (from LIDAR or other pointcloud generator) published on to the `filtered_cloud` rostopic, you should see outputs from this node published onto the `obj_id`, `cluster_0`, `cluster_1`, …, `cluster_5` topics along with the markers on `viz` topic which you can visualize using RViz.