Multi-Target Tracking ROS1 Integration

This package integrates the multi_target_tracking library for use with ROS1. Due to ROS1's limitations with modern Python package structures, some manual steps are required after cloning the repository.

1. Installation

1.1 Clone and Initialize

git clone <your-repo-url>
cd <your-repo>
git submodule update --init --recursive

1.2 Build the Workspace

From your catkin workspace root:

cd /path/to/your/catkin_ws
catkin_make

1.3 Make Nodes Executable

cd /path/to/mtt_ros_node
chmod +x nodes/JPDA_node.py

1.4 Run the Node

ROS_NAMESPACE=/machine_1 rosrun multi_target_tracking JPDA_node.py \
  _robotID:=1 \
  _numRobots:=3 \
  _config:=/absolute/path/to/multi_target_tracking/mtt_config.yaml

⚠️ Performance Note: As the Tracks are published in real time, saving them in memory is not necessary.

1. Set the maximumTrackLength parameter in mtt_config.yaml to a low value (1 or 2)
2. Set the track status in score_logic.py and mn_logic.py to DELETED instead of ARCHIVED

2. Configuration

Configure tracking parameters in multi_target_tracking/cfg/mtt_config.yaml:

# Detection probabilities
PD: 0.9      # Probability of detection
PG: 1        # Probability of gating
FAR: 0.01    # False alarm rate

# Gating parameters
thresholdMahalanobis: 3.0  # Threshold for Mahalanobis gating
thresholdID: 0.1           # Threshold for ID gating

# Filter parameters
velocityDecayTime: 20.0    # Time constant for velocity decay in filter
offsetDecayTime: 30.0      # Time constant for offset decay in filter

# Track management
maximumTrackLength: None   # Maximum track length kept (None = unlimited)
MN_del_tentative: 10       # Deletions to remove tentative track
MN_confirm_tentative: 15   # Detections to confirm tentative track
MN_del_confirmed: 18       # Deletions to remove confirmed track
MN_intervall: 20           # Total updates considered for M/N logic

# Score logic parameters
lambda: 0.90                    # Forgetting factor (0-1, closer to 1 = slower forgetting)
score_del_confirmed: 0.05       # Score threshold for deletion

3. Usage & Documentation

For all usage and development documentation related to the multi_target_tracking package, please refer to its own README file and documentation.

4. License

See the LICENSE file in this repository and the LICENSE file in the multi_target_tracking submodule for license information.