Initially created by @schlechter-afk, @anshium (me) and @samkit-2512j.

Highly modified later

Running Instruction

1. Remove devel and build dirs (I mistakenly pushed them - and lazy to remove)
2. catkin_make
3. source devel/setup.bash
4. rosrun det_and_track combined_script.py

Topics needed

1. Camera Color frame
2. 2D LIDAR Scan
3. Odometry
4. (Optional) Camera depth frame.

Topics Published (Not all published by default)

1. /trajectory_plot
2. /point_cloud
3. /trajectories
4. /velocities
5. /distances (Not implemented yet)