Description of task

Filter the lines received from the line fitting node. Find the correct line to send on to the guidance system.

Suggested Workflow

• Look at how target tracking was done last year
• Transform measurements into static odom frame.
• Filter lines with parametrized form, store line points corresponding to each track(confirmed line).
• Update tracks in timer callback.
• In timer callback determine correct line to publish based on line points and current pose of Orca from odom topic. Should use both position and orientation

Specifications

• Seperate non-ros stuff from ros code. Track manager functions should be independent of ROS, using Eigen etc... for these functions
• Publish the current line for guidance system to follow with start and end point.

Contacts

@jorgenfj

Code Quality

• Every function in header files are documented (inputs/returns/exceptions)
• The project has automated tests that cover MOST of the functions and branches in functions (pytest/gtest)
• The code is documented on the wiki (provide link)