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Thanks for the tip. CoM seems to be very interesting but I am too much of a noob to be able to implement it yet.

I found this related file ( https://amigo.wtb.tue.nl/svn/amigo/code/tue-ros-pkg/dev/tue_perception_dev/body_detector_dev/src/body_detector.cpp ) that seems to have done this already but I cannot compile it because I'm lacking this dependency:

include "object_msgs/WorldEvidence.h"

Any idea where to find it?

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