This is a ROS2 package for processing dynamic object positions from a tracker and predicting the future positions with a Kalman filter. It can be used for pedestrian trajectory prediction.
After setting up a ROS2 workspace and building the dynamic_costmap package and the interfaces package you can use ros2 run dynamic_costmap dynamic_costmap.
The node subscribes to /dynamic_objects to get the object coordinates and publishes a string message to /chatter_dynam when a collision is detected.
This package is tested with ROS2 Humble and the ZED camera.