Does it also include obstacle tracking? and any paper published on this work?

[Danendra10]

Hi, I'm working something with obstacle tracking, and I noticed that in autoware_msgs they have that velocity field, but I didn't saw it in your code, do you have any work on this? or do you have any paper reference that I could use to work with.

And also, do you have any public paper for this work? I would be grateful if you could help me with this, thank you so much.

Anyway, this is the best typed and well documented repo i've cross so far on this method, nice work