2D Tracking Node

Package Summary

Tags	No category tags.
Version	0.0.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI	https://github.com/watonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2025-12-01
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	control computer-vision deep-learning motion-planning perception autonomous-driving sensor-fusion sensors-data-collection world-modeling
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

tracking_2d package

Additional Links

No additional links.

Maintainers

WATonomous

Authors

No additional authors.

2D Tracking Node

This node uses ByteTrack to track 2D bounding boxes in the image plane.

Subscribed Topics

detections_topic: topic to subscribe to for incoming detections
Published-to Topics
track_topic: topic to publish tracks to
Other Parameters:
[int] frame_rate: frame rate of the input detections
[int] track_buffer: how much consecutive time a track is allowed to stay unmatched before getting removed
[float] track_thresh: threshold between high and low confidence detections
[float] high_thresh: min detection confidence score to start a new track
[float] match_thresh: max IoU cost to be considered a match

Note: Intuitively, it might seem like track_thresh and high_thresh should have their purposes swapped, but this is how it was set up in the original ByteTrack repo.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	std_msgs
	vision_msgs
	bytetrack_cpp_vendor

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `tracking_2d` at Robotics Stack Exchange

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

tracking_2d package from wato_monorepo repo

action_bringup behaviour_planning global_planning local_planning model_predictive_control infrastructure_deps can_interfacing eve_description interfacing_bringup sensor_interfacing camera_object_detection depth_estimation patchworkpp perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking_2d traffic_light_detection carla_config carla_sample_node common_msgs interfacing_msgs camera_object_detection_msgs lane_detection_msgs radar_msgs tracking_2d_msgs sample_msgs embedded_msgs path_planning_msgs world_modeling_msgs wato_test hd_map lidar_localization localization occupancy occupancy_segmentation prediction state_estimation world_modeling_bringup

ROS Distro
github

Package Summary

Tags	No category tags.
Version	0.0.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI	https://github.com/watonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2025-12-01
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	control computer-vision deep-learning motion-planning perception autonomous-driving sensor-fusion sensors-data-collection world-modeling
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

tracking_2d package

Additional Links

No additional links.

Maintainers

WATonomous

Authors

No additional authors.

2D Tracking Node

This node uses ByteTrack to track 2D bounding boxes in the image plane.

Subscribed Topics

detections_topic: topic to subscribe to for incoming detections
Published-to Topics
track_topic: topic to publish tracks to
Other Parameters:
[int] frame_rate: frame rate of the input detections
[int] track_buffer: how much consecutive time a track is allowed to stay unmatched before getting removed
[float] track_thresh: threshold between high and low confidence detections
[float] high_thresh: min detection confidence score to start a new track
[float] match_thresh: max IoU cost to be considered a match

Note: Intuitively, it might seem like track_thresh and high_thresh should have their purposes swapped, but this is how it was set up in the original ByteTrack repo.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	std_msgs
	vision_msgs
	bytetrack_cpp_vendor

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `tracking_2d` at Robotics Stack Exchange

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

tracking_2d package from wato_monorepo repo

action_bringup behaviour_planning global_planning local_planning model_predictive_control infrastructure_deps can_interfacing eve_description interfacing_bringup sensor_interfacing camera_object_detection depth_estimation patchworkpp perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking_2d traffic_light_detection carla_config carla_sample_node common_msgs interfacing_msgs camera_object_detection_msgs lane_detection_msgs radar_msgs tracking_2d_msgs sample_msgs embedded_msgs path_planning_msgs world_modeling_msgs wato_test hd_map lidar_localization localization occupancy occupancy_segmentation prediction state_estimation world_modeling_bringup

ROS Distro
github

Package Summary

Tags	No category tags.
Version	0.0.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI	https://github.com/watonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2025-12-01
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	control computer-vision deep-learning motion-planning perception autonomous-driving sensor-fusion sensors-data-collection world-modeling
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

tracking_2d package

Additional Links

No additional links.

Maintainers

WATonomous

Authors

No additional authors.

2D Tracking Node

This node uses ByteTrack to track 2D bounding boxes in the image plane.

Subscribed Topics

detections_topic: topic to subscribe to for incoming detections
Published-to Topics
track_topic: topic to publish tracks to
Other Parameters:
[int] frame_rate: frame rate of the input detections
[int] track_buffer: how much consecutive time a track is allowed to stay unmatched before getting removed
[float] track_thresh: threshold between high and low confidence detections
[float] high_thresh: min detection confidence score to start a new track
[float] match_thresh: max IoU cost to be considered a match

Note: Intuitively, it might seem like track_thresh and high_thresh should have their purposes swapped, but this is how it was set up in the original ByteTrack repo.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	std_msgs
	vision_msgs
	bytetrack_cpp_vendor

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `tracking_2d` at Robotics Stack Exchange

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

tracking_2d package from wato_monorepo repo

action_bringup behaviour_planning global_planning local_planning model_predictive_control infrastructure_deps can_interfacing eve_description interfacing_bringup sensor_interfacing camera_object_detection depth_estimation patchworkpp perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking_2d traffic_light_detection carla_config carla_sample_node common_msgs interfacing_msgs camera_object_detection_msgs lane_detection_msgs radar_msgs tracking_2d_msgs sample_msgs embedded_msgs path_planning_msgs world_modeling_msgs wato_test hd_map lidar_localization localization occupancy occupancy_segmentation prediction state_estimation world_modeling_bringup

ROS Distro
github

Package Summary

Tags	No category tags.
Version	0.0.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI	https://github.com/watonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2025-12-01
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	control computer-vision deep-learning motion-planning perception autonomous-driving sensor-fusion sensors-data-collection world-modeling
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

tracking_2d package

Additional Links

No additional links.

Maintainers

WATonomous

Authors

No additional authors.

2D Tracking Node

This node uses ByteTrack to track 2D bounding boxes in the image plane.

Subscribed Topics

detections_topic: topic to subscribe to for incoming detections
Published-to Topics
track_topic: topic to publish tracks to
Other Parameters:
[int] frame_rate: frame rate of the input detections
[int] track_buffer: how much consecutive time a track is allowed to stay unmatched before getting removed
[float] track_thresh: threshold between high and low confidence detections
[float] high_thresh: min detection confidence score to start a new track
[float] match_thresh: max IoU cost to be considered a match

Note: Intuitively, it might seem like track_thresh and high_thresh should have their purposes swapped, but this is how it was set up in the original ByteTrack repo.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	std_msgs
	vision_msgs
	bytetrack_cpp_vendor

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `tracking_2d` at Robotics Stack Exchange

tracking_2d package from wato_monorepo repo

action_bringup behaviour_planning global_planning local_planning model_predictive_control infrastructure_deps can_interfacing eve_description interfacing_bringup sensor_interfacing camera_object_detection depth_estimation patchworkpp perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking_2d traffic_light_detection carla_config carla_sample_node common_msgs interfacing_msgs camera_object_detection_msgs lane_detection_msgs radar_msgs tracking_2d_msgs sample_msgs embedded_msgs path_planning_msgs world_modeling_msgs wato_test hd_map lidar_localization localization occupancy occupancy_segmentation prediction state_estimation world_modeling_bringup

ROS Distro
github

Package Summary

Tags	No category tags.
Version	0.0.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI	https://github.com/watonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2025-12-01
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	control computer-vision deep-learning motion-planning perception autonomous-driving sensor-fusion sensors-data-collection world-modeling
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

tracking_2d package

Additional Links

No additional links.

Maintainers

WATonomous

Authors

No additional authors.

2D Tracking Node

This node uses ByteTrack to track 2D bounding boxes in the image plane.

Subscribed Topics

detections_topic: topic to subscribe to for incoming detections
Published-to Topics
track_topic: topic to publish tracks to
Other Parameters:
[int] frame_rate: frame rate of the input detections
[int] track_buffer: how much consecutive time a track is allowed to stay unmatched before getting removed
[float] track_thresh: threshold between high and low confidence detections
[float] high_thresh: min detection confidence score to start a new track
[float] match_thresh: max IoU cost to be considered a match

Note: Intuitively, it might seem like track_thresh and high_thresh should have their purposes swapped, but this is how it was set up in the original ByteTrack repo.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	std_msgs
	vision_msgs
	bytetrack_cpp_vendor

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `tracking_2d` at Robotics Stack Exchange

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

tracking_2d package from wato_monorepo repo

action_bringup behaviour_planning global_planning local_planning model_predictive_control infrastructure_deps can_interfacing eve_description interfacing_bringup sensor_interfacing camera_object_detection depth_estimation patchworkpp perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking_2d traffic_light_detection carla_config carla_sample_node common_msgs interfacing_msgs camera_object_detection_msgs lane_detection_msgs radar_msgs tracking_2d_msgs sample_msgs embedded_msgs path_planning_msgs world_modeling_msgs wato_test hd_map lidar_localization localization occupancy occupancy_segmentation prediction state_estimation world_modeling_bringup

ROS Distro
github

Package Summary

Tags	No category tags.
Version	0.0.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI	https://github.com/watonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2025-12-01
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	control computer-vision deep-learning motion-planning perception autonomous-driving sensor-fusion sensors-data-collection world-modeling
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

tracking_2d package

Additional Links

No additional links.

Maintainers

WATonomous

Authors

No additional authors.

2D Tracking Node

This node uses ByteTrack to track 2D bounding boxes in the image plane.

Subscribed Topics

detections_topic: topic to subscribe to for incoming detections
Published-to Topics
track_topic: topic to publish tracks to
Other Parameters:
[int] frame_rate: frame rate of the input detections
[int] track_buffer: how much consecutive time a track is allowed to stay unmatched before getting removed
[float] track_thresh: threshold between high and low confidence detections
[float] high_thresh: min detection confidence score to start a new track
[float] match_thresh: max IoU cost to be considered a match

Note: Intuitively, it might seem like track_thresh and high_thresh should have their purposes swapped, but this is how it was set up in the original ByteTrack repo.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	std_msgs
	vision_msgs
	bytetrack_cpp_vendor

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `tracking_2d` at Robotics Stack Exchange

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

tracking_2d package from wato_monorepo repo

action_bringup behaviour_planning global_planning local_planning model_predictive_control infrastructure_deps can_interfacing eve_description interfacing_bringup sensor_interfacing camera_object_detection depth_estimation patchworkpp perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking_2d traffic_light_detection carla_config carla_sample_node common_msgs interfacing_msgs camera_object_detection_msgs lane_detection_msgs radar_msgs tracking_2d_msgs sample_msgs embedded_msgs path_planning_msgs world_modeling_msgs wato_test hd_map lidar_localization localization occupancy occupancy_segmentation prediction state_estimation world_modeling_bringup

ROS Distro
github

Package Summary

Tags	No category tags.
Version	0.0.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI	https://github.com/watonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2025-12-01
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	control computer-vision deep-learning motion-planning perception autonomous-driving sensor-fusion sensors-data-collection world-modeling
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

tracking_2d package

Additional Links

No additional links.

Maintainers

WATonomous

Authors

No additional authors.

2D Tracking Node

This node uses ByteTrack to track 2D bounding boxes in the image plane.

Subscribed Topics

detections_topic: topic to subscribe to for incoming detections
Published-to Topics
track_topic: topic to publish tracks to
Other Parameters:
[int] frame_rate: frame rate of the input detections
[int] track_buffer: how much consecutive time a track is allowed to stay unmatched before getting removed
[float] track_thresh: threshold between high and low confidence detections
[float] high_thresh: min detection confidence score to start a new track
[float] match_thresh: max IoU cost to be considered a match

Note: Intuitively, it might seem like track_thresh and high_thresh should have their purposes swapped, but this is how it was set up in the original ByteTrack repo.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	std_msgs
	vision_msgs
	bytetrack_cpp_vendor

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `tracking_2d` at Robotics Stack Exchange

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

tracking_2d package from wato_monorepo repo

action_bringup behaviour_planning global_planning local_planning model_predictive_control infrastructure_deps can_interfacing eve_description interfacing_bringup sensor_interfacing camera_object_detection depth_estimation patchworkpp perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking_2d traffic_light_detection carla_config carla_sample_node common_msgs interfacing_msgs camera_object_detection_msgs lane_detection_msgs radar_msgs tracking_2d_msgs sample_msgs embedded_msgs path_planning_msgs world_modeling_msgs wato_test hd_map lidar_localization localization occupancy occupancy_segmentation prediction state_estimation world_modeling_bringup

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	0.0.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI	https://github.com/watonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2025-12-01
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	control computer-vision deep-learning motion-planning perception autonomous-driving sensor-fusion sensors-data-collection world-modeling
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

tracking_2d package

Additional Links

No additional links.

Maintainers

WATonomous

Authors

No additional authors.

2D Tracking Node

This node uses ByteTrack to track 2D bounding boxes in the image plane.

Subscribed Topics

detections_topic: topic to subscribe to for incoming detections
Published-to Topics
track_topic: topic to publish tracks to
Other Parameters:
[int] frame_rate: frame rate of the input detections
[int] track_buffer: how much consecutive time a track is allowed to stay unmatched before getting removed
[float] track_thresh: threshold between high and low confidence detections
[float] high_thresh: min detection confidence score to start a new track
[float] match_thresh: max IoU cost to be considered a match

Note: Intuitively, it might seem like track_thresh and high_thresh should have their purposes swapped, but this is how it was set up in the original ByteTrack repo.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	std_msgs
	vision_msgs
	bytetrack_cpp_vendor

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `tracking_2d` at Robotics Stack Exchange

API Docs Browse Code Wiki

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

tracking_2d package from wato_monorepo repo

action_bringup behaviour_planning global_planning local_planning model_predictive_control infrastructure_deps can_interfacing eve_description interfacing_bringup sensor_interfacing camera_object_detection depth_estimation patchworkpp perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking_2d traffic_light_detection carla_config carla_sample_node common_msgs interfacing_msgs camera_object_detection_msgs lane_detection_msgs radar_msgs tracking_2d_msgs sample_msgs embedded_msgs path_planning_msgs world_modeling_msgs wato_test hd_map lidar_localization localization occupancy occupancy_segmentation prediction state_estimation world_modeling_bringup

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	0.0.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI	https://github.com/watonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2025-12-01
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	control computer-vision deep-learning motion-planning perception autonomous-driving sensor-fusion sensors-data-collection world-modeling
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

tracking_2d package

Additional Links

No additional links.

Maintainers

WATonomous

Authors

No additional authors.