Fix/remove obsolete lidar kf contour track

[esteve]

Status

PRODUCTION / DEVELOPMENT

Description

Obsolete according to https://docs.google.com/spreadsheets/d/1wcMiQJFr3SwHAS9H21UbcmnmMMDvq04Jpa7uGml0MdI/edit

Connects to autowarefoundation/autoware_ai#475

[sgermanserrano]

@hatem-darweesh mentioned this one is not obsolete

[kfunaoka]

#1846 (comment)

lidar_kf_contour_track is very important for OpenPlanner.
it follows the same object tracking node interface. same as (lidar_imm_ukf) with similar performance according to kitti evaluation

@hatem-darweesh Would you explain why lidar_kf_contour_track is important for OpenPlanner? In my understanding, OpenPlanner is independent from tracking algorithms, and can use other tracking algorithms.

@cirpue49 Do lidar_kf_contour_track and lidar_imm_ukf show similar tracking performance?

[hatem-darweesh]

@kfunaoka it is different approach to track detected objects,

• I evaluated this tracking node using KITTI , and I got close results as imm_ukf.

• Two important features that I added to this node:

1. It supports the simulated (Ego, Other) vehicles I can track with specific ID's
2. I can do frame by frame debugging in simulation mode

Sorry I didn't saw the nodes list earlier !

[kfunaoka]

@hatem-darweesh It seems we can brush up the design between OpenPlanner and Tracking not to locked in lidar_kf_contour_track. Adding the two features into every tracking algorithms might reduce the maintainability. For now, let's keep as-is regarding lidar_kf_contour_track until the design is brushed up :)

[esteve]

@hatem-darweesh sorry about that, I took a look at the packages that depend on jsk_recognition_msgs (because that's one of the dependencies that prevent us to migrate to ROS Melodic) and are declared as obsolete. Should any of the other lidar_* packages be removed?

[hatem-darweesh]

@esteve don't know about other lidar_* nodes,
will lidar_kf_contour_track be a problem to leave?

[esteve]

@hatem-darweesh no problem at all keeping it :-) Thanks for checking, I'm closing this PR.