people_tracker_filter was not working properly when map and people_tracker/positions topics had different frame_id. This fork uses tf2 to handle transforms and gridMap library to manage metric position to cell conversions. We have tested the solution and it achieves similar performance than the original one.
people_tracker_filterwas not working properly whenmapandpeople_tracker/positionstopics had differentframe_id. This fork usestf2to handle transforms andgridMaplibrary to manage metric position to cell conversions. We have tested the solution and it achieves similar performance than the original one.