We are trying to use the [Leg Detector](http://wiki.ros.org/leg_detector) package on the Turtlebot to detect people and then send goals to the navigation stack to follow a person. Separately, running leg detection and amcl work fine. However, when you run them together there are problems. robot_pose_ekf, which the leg_detector needs, seems to interfere with amcl somehow. Can anyone explain why this happens and how I can get around it? I think it's problem some duplication in pose estimation, so maybe hopefully it's something easy that I'm missing.
Thanks,
Sarah
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