leg_detector and ROS Melodic (ROSbot 2.0)

edit

Hello ROS Users!

I’m writing my master’s thesis. I’m beginner user of ROS. I use Husarion ROSbot 2.0 with ROS Melodic. I’m trying to run leg_detector (http://wiki.ros.org/leg_detector) on this device. I want to tracking people using LiDAR. I cloned repository (https://github.com/wg-perception/people) to my workspace. I added node of LiDAR to launch file (leg_detector.launch). I changed arg scan from scan:=base_scan to scan:=/scan.

Main fragments of leg_detector.launch:

include file="$(find rplidar_ros)/launch/rplidar.launch" node pkg="leg_detector" type="leg_detector" name="leg_detector" args="scan:=/scan $(find leg_detector)/config/trained_leg_detector.yaml" output="screen"

After the command: roslaunch leg_detector leg_detector.launch, I see following, cyclic error messages in terminal:

[ WARN] [1657705125.709984398]: MessageFilter [target=odom_combined ]: Dropped 100.00% of messages so far. >Please turn the [ros.leg_detector.message_filter] rosconsole logger to DEBUG for more information.

and:

[ WARN] [1657707032.581360628]: Transform from imu_link to base_link was unavailable for the time requested. >Using latest instead.

rqt_graph looks good, but at graph's end is not topic with position of people. After command roslaunch people_velocity_tracker tracked_detector.launch, I see relevant topic, but first error message too. Topic is empty.

What am I doing wrong? I would really appreciate if anybody helps me.