How to add interested object into my map?

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Hello everyone.

I'm running ROS indigo in Ubuntu 1404, 64bit.

Now I can generate a map with the help of hector_slam . But when I want to add interested objects when the robot find in the rea world, I don't know how to make it. In fact, I learned that hector_object_tracker could add the interested objects into the map.. So I tried it . When I run roslaunch hector_object_tracker object_tracker.launch, I faced such information.

[ INFO] [1439299148.445725513]: waitForService: Service [/get_distance_to_obstacle] has not been advertised, waiting...
[ WARN] [1439299153.465895428]: project_objects is true, but GetDistanceToObstacle service is not (yet) available

I find the same problem Here . But it didn't solve it.

Besides, I faced another problem.

[ WARN] [1439299153.490758564]: Required verification service /thermal_self_filter/verify_percept is not available... waiting...
[ INFO] [1439299153.491344087]: waitForService: Service [/thermal_self_filter/verify_percept] has not been advertised, waiting...
[ INFO] [1439299154.508456749]: waitForService: Service [/thermal_self_filter/verify_percept] has not been advertised, waiting...
[ INFO] [1439299155.526992780]: waitForService: Service [/thermal_self_filter/verify_percept] has not been advertised, waiting...
[ INFO] [1439299156.544610708]: waitForService: Service [/thermal_self_filter/verify_percept] has not been advertised, waiting...

There are endless [INFO] waitForService: Service [/thermal_self_filter/verify_percept] has not been advertised, waiting...

I don't know how to solve this problem.

I also don't how to use hector_object_tracker rightly as I didn't find useful tutorials.

Thanks first!!!

Here is the launch file .

<?xml version="1.0"?>

<launch>
<node pkg="hector_object_tracker" type="object_tracker" name="object_tracker" output="screen">
  <param name="project_objects" type="bool" value="true" />
  <param name="angle_variance" type="double" value="0.121846968"/>
  <param name="publish_interval" type="double" value="1.0" />

  <rosparam>
    victim:
      pending_support: 1.0
      active_support: 10.0
      min_height: -0.5
      max_height: 0.2
      marker_color: [0.8, 0.0, 0.0]
      with_orientation: true
      #get_normal_service: hector_octomap_server/get_normal
      distance_to_obstacle_service: /hector_map_server/get_distance_to_obstacle
      min_distance_between_objects: 0.3
    qrcode:
      active_support: 1.0
      marker_color: [0.0, 0.0, 0.8]
    barrel:
      active_support: 5.0
      marker_color: [0.8, 0.8, 0.0]
    verification_services:
      - service: victim_verification/verify_victim
        type: object
        class_id: victim
        ignore: true
      - service: thermal_self_filter/verify_percept
        type: percept
        class_id: victim
        required: true
    negative_update:
      - topic: thermal/camera_info
        class_id: victim
        min_distance: 0.1
        max_distance: 1.6
        negative_support: 0.5
  </rosparam>

  <remap from="visualization_marker" to="worldmodel/visualization_marker" />
  <remap from="visualization_marker_array" to="worldmodel/visualization_marker_array" />
</node>
</launch>