Is there a ROS Package for Merging and Tracking Obstacles from Multiple Robots?
I'm currently developing a multi-robot system using ROS, where each robot is equipped with one (or more) 2D laser scanners. I intend to create a node, which I refer to as the "Global Obstacle Tracker". The function of this node is to subscribe to local obstacle data (shape, size, position in 2D space) from each robot and publish a unified global obstacle dataset. The idea is to smartly merge similar or identical obstacles into a single entity to avoid duplications. Additionally, the node should be able to track the obstacles, calculating and reporting their velocities.
My question is: Is there an existing ROS package that performs these functions, or should I proceed with custom development? Any guidance or suggestions for relevant resources would be greatly appreciated.
