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tracking package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.0.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/watonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-04-03
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

tracking package

Maintainers

  • WATonomous

Authors

No additional authors.
src/perception/tracking/tracking/README.md

Multi-Object Tracking

ROS2 Node for tracking 3D objects detected around the car.

Overview

This tracker uses a modified version of ByteTrack to track 3D bounding boxes. Core logic draws inspiration from ByteTrackV2 (Zhang et al., 2023). The implementation is built on top of ByteTrack-cpp with modifications made for 3D tracking.

Topics

Subscribed

Topic Type Description
/perception/detections_3D vision_msgs/Detection3DArray Incoming 3D detections

Published

Topic Type Description
/perception/detections_3D_tracked vision_msgs/Detection3DArray Tracked detections, track velocities are stored in the results field (ObjectHypothesisWithPose[])

Parameters

| Parameter | Type | Default | Description | |———–|——|———|————-| | frame_rate| int | 30 | Frame rate of the input detections | | track_buffer | int | 30 | Amount of consecutive frames a track can stay unmatched before getting removed | | track_thresh | float | 0.5 | Threshold between high and low confidence detections | | high_thresh | float | 0.6 | Minimum detection confidence score required to start a new track | | match_thresh | float | 0.8 | Maximum IoU cost to still be considered a match | | use_maj_cls | bool | true | Use most frequent class as track’s class if true, use most recent class otherwise | | use_R_scaling | bool | false | Scale R matrix in Kalman Filter according to detection confidence | | dist_metric | string | “IOU” | Which distance metric to use (currently supports “IOU”, “DIOU”, “CIOU”) | | output_frame | string | “map” | Frame to output tracks in |

Acknowledgements

This package uses a modified version of ByteTrack-cpp. The original repository is licensed under MIT License (see THIRD_PARTY_LICENSES/BYTETRACK_LICENSE for details).

ByteTrackV2 paper can be found at:
Y. Zhang et al., “ByteTrackV2: 2D and 3D Multi-Object Tracking by Associating Every Detection Box,” arXiv, Mar. 2023, https://doi.org/10.48550/arXiv.2303.15334

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged tracking at Robotics Stack Exchange

No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.
Package symbol

tracking package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.0.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/watonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-04-03
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

tracking package

Maintainers

  • WATonomous

Authors

No additional authors.
src/perception/tracking/tracking/README.md

Multi-Object Tracking

ROS2 Node for tracking 3D objects detected around the car.

Overview

This tracker uses a modified version of ByteTrack to track 3D bounding boxes. Core logic draws inspiration from ByteTrackV2 (Zhang et al., 2023). The implementation is built on top of ByteTrack-cpp with modifications made for 3D tracking.

Topics

Subscribed

Topic Type Description
/perception/detections_3D vision_msgs/Detection3DArray Incoming 3D detections

Published

Topic Type Description
/perception/detections_3D_tracked vision_msgs/Detection3DArray Tracked detections, track velocities are stored in the results field (ObjectHypothesisWithPose[])

Parameters

| Parameter | Type | Default | Description | |———–|——|———|————-| | frame_rate| int | 30 | Frame rate of the input detections | | track_buffer | int | 30 | Amount of consecutive frames a track can stay unmatched before getting removed | | track_thresh | float | 0.5 | Threshold between high and low confidence detections | | high_thresh | float | 0.6 | Minimum detection confidence score required to start a new track | | match_thresh | float | 0.8 | Maximum IoU cost to still be considered a match | | use_maj_cls | bool | true | Use most frequent class as track’s class if true, use most recent class otherwise | | use_R_scaling | bool | false | Scale R matrix in Kalman Filter according to detection confidence | | dist_metric | string | “IOU” | Which distance metric to use (currently supports “IOU”, “DIOU”, “CIOU”) | | output_frame | string | “map” | Frame to output tracks in |

Acknowledgements

This package uses a modified version of ByteTrack-cpp. The original repository is licensed under MIT License (see THIRD_PARTY_LICENSES/BYTETRACK_LICENSE for details).

ByteTrackV2 paper can be found at:
Y. Zhang et al., “ByteTrackV2: 2D and 3D Multi-Object Tracking by Associating Every Detection Box,” arXiv, Mar. 2023, https://doi.org/10.48550/arXiv.2303.15334

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged tracking at Robotics Stack Exchange

No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.
Package symbol

tracking package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.0.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/watonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-04-03
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

tracking package

Maintainers

  • WATonomous

Authors

No additional authors.
src/perception/tracking/tracking/README.md

Multi-Object Tracking

ROS2 Node for tracking 3D objects detected around the car.

Overview

This tracker uses a modified version of ByteTrack to track 3D bounding boxes. Core logic draws inspiration from ByteTrackV2 (Zhang et al., 2023). The implementation is built on top of ByteTrack-cpp with modifications made for 3D tracking.

Topics

Subscribed

Topic Type Description
/perception/detections_3D vision_msgs/Detection3DArray Incoming 3D detections

Published

Topic Type Description
/perception/detections_3D_tracked vision_msgs/Detection3DArray Tracked detections, track velocities are stored in the results field (ObjectHypothesisWithPose[])

Parameters

| Parameter | Type | Default | Description | |———–|——|———|————-| | frame_rate| int | 30 | Frame rate of the input detections | | track_buffer | int | 30 | Amount of consecutive frames a track can stay unmatched before getting removed | | track_thresh | float | 0.5 | Threshold between high and low confidence detections | | high_thresh | float | 0.6 | Minimum detection confidence score required to start a new track | | match_thresh | float | 0.8 | Maximum IoU cost to still be considered a match | | use_maj_cls | bool | true | Use most frequent class as track’s class if true, use most recent class otherwise | | use_R_scaling | bool | false | Scale R matrix in Kalman Filter according to detection confidence | | dist_metric | string | “IOU” | Which distance metric to use (currently supports “IOU”, “DIOU”, “CIOU”) | | output_frame | string | “map” | Frame to output tracks in |

Acknowledgements

This package uses a modified version of ByteTrack-cpp. The original repository is licensed under MIT License (see THIRD_PARTY_LICENSES/BYTETRACK_LICENSE for details).

ByteTrackV2 paper can be found at:
Y. Zhang et al., “ByteTrackV2: 2D and 3D Multi-Object Tracking by Associating Every Detection Box,” arXiv, Mar. 2023, https://doi.org/10.48550/arXiv.2303.15334

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged tracking at Robotics Stack Exchange

No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.
Package symbol

tracking package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.0.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/watonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-04-03
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

tracking package

Maintainers

  • WATonomous

Authors

No additional authors.
src/perception/tracking/tracking/README.md

Multi-Object Tracking

ROS2 Node for tracking 3D objects detected around the car.

Overview

This tracker uses a modified version of ByteTrack to track 3D bounding boxes. Core logic draws inspiration from ByteTrackV2 (Zhang et al., 2023). The implementation is built on top of ByteTrack-cpp with modifications made for 3D tracking.

Topics

Subscribed

Topic Type Description
/perception/detections_3D vision_msgs/Detection3DArray Incoming 3D detections

Published

Topic Type Description
/perception/detections_3D_tracked vision_msgs/Detection3DArray Tracked detections, track velocities are stored in the results field (ObjectHypothesisWithPose[])

Parameters

| Parameter | Type | Default | Description | |———–|——|———|————-| | frame_rate| int | 30 | Frame rate of the input detections | | track_buffer | int | 30 | Amount of consecutive frames a track can stay unmatched before getting removed | | track_thresh | float | 0.5 | Threshold between high and low confidence detections | | high_thresh | float | 0.6 | Minimum detection confidence score required to start a new track | | match_thresh | float | 0.8 | Maximum IoU cost to still be considered a match | | use_maj_cls | bool | true | Use most frequent class as track’s class if true, use most recent class otherwise | | use_R_scaling | bool | false | Scale R matrix in Kalman Filter according to detection confidence | | dist_metric | string | “IOU” | Which distance metric to use (currently supports “IOU”, “DIOU”, “CIOU”) | | output_frame | string | “map” | Frame to output tracks in |

Acknowledgements

This package uses a modified version of ByteTrack-cpp. The original repository is licensed under MIT License (see THIRD_PARTY_LICENSES/BYTETRACK_LICENSE for details).

ByteTrackV2 paper can be found at:
Y. Zhang et al., “ByteTrackV2: 2D and 3D Multi-Object Tracking by Associating Every Detection Box,” arXiv, Mar. 2023, https://doi.org/10.48550/arXiv.2303.15334

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged tracking at Robotics Stack Exchange

Package symbol

tracking package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.0.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/watonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-04-03
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

tracking package

Maintainers

  • WATonomous

Authors

No additional authors.
src/perception/tracking/tracking/README.md

Multi-Object Tracking

ROS2 Node for tracking 3D objects detected around the car.

Overview

This tracker uses a modified version of ByteTrack to track 3D bounding boxes. Core logic draws inspiration from ByteTrackV2 (Zhang et al., 2023). The implementation is built on top of ByteTrack-cpp with modifications made for 3D tracking.

Topics

Subscribed

Topic Type Description
/perception/detections_3D vision_msgs/Detection3DArray Incoming 3D detections

Published

Topic Type Description
/perception/detections_3D_tracked vision_msgs/Detection3DArray Tracked detections, track velocities are stored in the results field (ObjectHypothesisWithPose[])

Parameters

| Parameter | Type | Default | Description | |———–|——|———|————-| | frame_rate| int | 30 | Frame rate of the input detections | | track_buffer | int | 30 | Amount of consecutive frames a track can stay unmatched before getting removed | | track_thresh | float | 0.5 | Threshold between high and low confidence detections | | high_thresh | float | 0.6 | Minimum detection confidence score required to start a new track | | match_thresh | float | 0.8 | Maximum IoU cost to still be considered a match | | use_maj_cls | bool | true | Use most frequent class as track’s class if true, use most recent class otherwise | | use_R_scaling | bool | false | Scale R matrix in Kalman Filter according to detection confidence | | dist_metric | string | “IOU” | Which distance metric to use (currently supports “IOU”, “DIOU”, “CIOU”) | | output_frame | string | “map” | Frame to output tracks in |

Acknowledgements

This package uses a modified version of ByteTrack-cpp. The original repository is licensed under MIT License (see THIRD_PARTY_LICENSES/BYTETRACK_LICENSE for details).

ByteTrackV2 paper can be found at:
Y. Zhang et al., “ByteTrackV2: 2D and 3D Multi-Object Tracking by Associating Every Detection Box,” arXiv, Mar. 2023, https://doi.org/10.48550/arXiv.2303.15334

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged tracking at Robotics Stack Exchange

No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.
Package symbol

tracking package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.0.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/watonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-04-03
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

tracking package

Maintainers

  • WATonomous

Authors

No additional authors.
src/perception/tracking/tracking/README.md

Multi-Object Tracking

ROS2 Node for tracking 3D objects detected around the car.

Overview

This tracker uses a modified version of ByteTrack to track 3D bounding boxes. Core logic draws inspiration from ByteTrackV2 (Zhang et al., 2023). The implementation is built on top of ByteTrack-cpp with modifications made for 3D tracking.

Topics

Subscribed

Topic Type Description
/perception/detections_3D vision_msgs/Detection3DArray Incoming 3D detections

Published

Topic Type Description
/perception/detections_3D_tracked vision_msgs/Detection3DArray Tracked detections, track velocities are stored in the results field (ObjectHypothesisWithPose[])

Parameters

| Parameter | Type | Default | Description | |———–|——|———|————-| | frame_rate| int | 30 | Frame rate of the input detections | | track_buffer | int | 30 | Amount of consecutive frames a track can stay unmatched before getting removed | | track_thresh | float | 0.5 | Threshold between high and low confidence detections | | high_thresh | float | 0.6 | Minimum detection confidence score required to start a new track | | match_thresh | float | 0.8 | Maximum IoU cost to still be considered a match | | use_maj_cls | bool | true | Use most frequent class as track’s class if true, use most recent class otherwise | | use_R_scaling | bool | false | Scale R matrix in Kalman Filter according to detection confidence | | dist_metric | string | “IOU” | Which distance metric to use (currently supports “IOU”, “DIOU”, “CIOU”) | | output_frame | string | “map” | Frame to output tracks in |

Acknowledgements

This package uses a modified version of ByteTrack-cpp. The original repository is licensed under MIT License (see THIRD_PARTY_LICENSES/BYTETRACK_LICENSE for details).

ByteTrackV2 paper can be found at:
Y. Zhang et al., “ByteTrackV2: 2D and 3D Multi-Object Tracking by Associating Every Detection Box,” arXiv, Mar. 2023, https://doi.org/10.48550/arXiv.2303.15334

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged tracking at Robotics Stack Exchange

No version for distro iron showing github. Known supported distros are highlighted in the buttons above.
Package symbol

tracking package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.0.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/watonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-04-03
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

tracking package

Maintainers

  • WATonomous

Authors

No additional authors.
src/perception/tracking/tracking/README.md

Multi-Object Tracking

ROS2 Node for tracking 3D objects detected around the car.

Overview

This tracker uses a modified version of ByteTrack to track 3D bounding boxes. Core logic draws inspiration from ByteTrackV2 (Zhang et al., 2023). The implementation is built on top of ByteTrack-cpp with modifications made for 3D tracking.

Topics

Subscribed

Topic Type Description
/perception/detections_3D vision_msgs/Detection3DArray Incoming 3D detections

Published

Topic Type Description
/perception/detections_3D_tracked vision_msgs/Detection3DArray Tracked detections, track velocities are stored in the results field (ObjectHypothesisWithPose[])

Parameters

| Parameter | Type | Default | Description | |———–|——|———|————-| | frame_rate| int | 30 | Frame rate of the input detections | | track_buffer | int | 30 | Amount of consecutive frames a track can stay unmatched before getting removed | | track_thresh | float | 0.5 | Threshold between high and low confidence detections | | high_thresh | float | 0.6 | Minimum detection confidence score required to start a new track | | match_thresh | float | 0.8 | Maximum IoU cost to still be considered a match | | use_maj_cls | bool | true | Use most frequent class as track’s class if true, use most recent class otherwise | | use_R_scaling | bool | false | Scale R matrix in Kalman Filter according to detection confidence | | dist_metric | string | “IOU” | Which distance metric to use (currently supports “IOU”, “DIOU”, “CIOU”) | | output_frame | string | “map” | Frame to output tracks in |

Acknowledgements

This package uses a modified version of ByteTrack-cpp. The original repository is licensed under MIT License (see THIRD_PARTY_LICENSES/BYTETRACK_LICENSE for details).

ByteTrackV2 paper can be found at:
Y. Zhang et al., “ByteTrackV2: 2D and 3D Multi-Object Tracking by Associating Every Detection Box,” arXiv, Mar. 2023, https://doi.org/10.48550/arXiv.2303.15334

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged tracking at Robotics Stack Exchange

No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.
Package symbol

tracking package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Version 0.0.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/watonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-04-03
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

tracking package

Maintainers

  • WATonomous

Authors

No additional authors.
src/perception/tracking/tracking/README.md

Multi-Object Tracking

ROS2 Node for tracking 3D objects detected around the car.

Overview

This tracker uses a modified version of ByteTrack to track 3D bounding boxes. Core logic draws inspiration from ByteTrackV2 (Zhang et al., 2023). The implementation is built on top of ByteTrack-cpp with modifications made for 3D tracking.

Topics

Subscribed

Topic Type Description
/perception/detections_3D vision_msgs/Detection3DArray Incoming 3D detections

Published

Topic Type Description
/perception/detections_3D_tracked vision_msgs/Detection3DArray Tracked detections, track velocities are stored in the results field (ObjectHypothesisWithPose[])

Parameters

| Parameter | Type | Default | Description | |———–|——|———|————-| | frame_rate| int | 30 | Frame rate of the input detections | | track_buffer | int | 30 | Amount of consecutive frames a track can stay unmatched before getting removed | | track_thresh | float | 0.5 | Threshold between high and low confidence detections | | high_thresh | float | 0.6 | Minimum detection confidence score required to start a new track | | match_thresh | float | 0.8 | Maximum IoU cost to still be considered a match | | use_maj_cls | bool | true | Use most frequent class as track’s class if true, use most recent class otherwise | | use_R_scaling | bool | false | Scale R matrix in Kalman Filter according to detection confidence | | dist_metric | string | “IOU” | Which distance metric to use (currently supports “IOU”, “DIOU”, “CIOU”) | | output_frame | string | “map” | Frame to output tracks in |

Acknowledgements

This package uses a modified version of ByteTrack-cpp. The original repository is licensed under MIT License (see THIRD_PARTY_LICENSES/BYTETRACK_LICENSE for details).

ByteTrackV2 paper can be found at:
Y. Zhang et al., “ByteTrackV2: 2D and 3D Multi-Object Tracking by Associating Every Detection Box,” arXiv, Mar. 2023, https://doi.org/10.48550/arXiv.2303.15334

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged tracking at Robotics Stack Exchange

No version for distro noetic showing github. Known supported distros are highlighted in the buttons above.
Package symbol

tracking package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Version 0.0.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/watonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-04-03
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

tracking package

Maintainers

  • WATonomous

Authors

No additional authors.
src/perception/tracking/tracking/README.md

Multi-Object Tracking

ROS2 Node for tracking 3D objects detected around the car.

Overview

This tracker uses a modified version of ByteTrack to track 3D bounding boxes. Core logic draws inspiration from ByteTrackV2 (Zhang et al., 2023). The implementation is built on top of ByteTrack-cpp with modifications made for 3D tracking.

Topics

Subscribed

Topic Type Description
/perception/detections_3D vision_msgs/Detection3DArray Incoming 3D detections

Published

Topic Type Description
/perception/detections_3D_tracked vision_msgs/Detection3DArray Tracked detections, track velocities are stored in the results field (ObjectHypothesisWithPose[])

Parameters

| Parameter | Type | Default | Description | |———–|——|———|————-| | frame_rate| int | 30 | Frame rate of the input detections | | track_buffer | int | 30 | Amount of consecutive frames a track can stay unmatched before getting removed | | track_thresh | float | 0.5 | Threshold between high and low confidence detections | | high_thresh | float | 0.6 | Minimum detection confidence score required to start a new track | | match_thresh | float | 0.8 | Maximum IoU cost to still be considered a match | | use_maj_cls | bool | true | Use most frequent class as track’s class if true, use most recent class otherwise | | use_R_scaling | bool | false | Scale R matrix in Kalman Filter according to detection confidence | | dist_metric | string | “IOU” | Which distance metric to use (currently supports “IOU”, “DIOU”, “CIOU”) | | output_frame | string | “map” | Frame to output tracks in |

Acknowledgements

This package uses a modified version of ByteTrack-cpp. The original repository is licensed under MIT License (see THIRD_PARTY_LICENSES/BYTETRACK_LICENSE for details).

ByteTrackV2 paper can be found at:
Y. Zhang et al., “ByteTrackV2: 2D and 3D Multi-Object Tracking by Associating Every Detection Box,” arXiv, Mar. 2023, https://doi.org/10.48550/arXiv.2303.15334

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged tracking at Robotics Stack Exchange