dynamic obstacle tracking and detection in 2D env in RViz ROS

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@Nagarjun did you find a solution for your problem, or any promising leads, that you share with us here?

Thank you @JackB for your answer, but I think its not teb package is not useful. The teb package creates a trajectory for the obstacles based on the start and end goal and navigates the robot.

I require to detect the dynamic obstacle but not navigate through it. For navigation, I use another package called ORCA. which requires knowledge of the obstacle velocity and position when detected along with its radius.

I need to detect using a laser scan for dynamic obstacles, I can also use camera sensors. I require a package which when deployed in any gazebo environment able to detect dynamic obstacles and provides its velocity.

Please post the answer if you know anything about it?

A year or two ago I manager to extract just the obstacle tracking part of the planner, and not use the planner. Maybe I did it wrong, but I think it should be possible to separate the planner from the obstacle avoidance.

@JackB I am having trouble using the costmap_converter with teb_local_planner to avoid dynamic obstacle. I asked a question here but no one has answered yet. Please help me use the costmap_converter plugin