Follow me

This very simple node uses the information of the pedestrian localisation node to make the robot follow the closest person in front of it. It uses the move_base action client architecture to set a goal at the position of the human.
In order to use move_base you need to launch scitos_2d_nav with a pre recorder or empty map. Afterwards you run the pedestrian_tracker and this node.
This is not a very clever behaviour at the moment but it works fairly well. It struggles with tight corners because it will lose track of the human. It is also susceptible to false positives and will always follow the closest person even if that it is not the one it is supposed to follow.