From 2d7e1589f2e61a8a6cb06eee011d0c9c1dad9531 Mon Sep 17 00:00:00 2001
From: Isaac IY Saito <130s@lateeye.net>
Date: Mon, 12 Oct 2015 12:29:56 -0700
Subject: [PATCH] Add people_app pkg

---
 people/package.xml                            |    1 +
 people_app/CMakeLists.txt                     |   48 +
 people_app/launch/pr2.rviz                    | 1130 +++++++++++++++++
 .../sample_facedetector_rgbd_pr2.launch       |   19 +
 .../sample_facedetector_rgbd_turtlebot.launch |   20 +
 .../sample_facedetector_rgbd_xtion.launch     |   30 +
 people_app/launch/turtlebot.rviz              |  336 +++++
 people_app/package.xml                        |   21 +
 people_msgs/package.xml                       |    2 +-
 9 files changed, 1606 insertions(+), 1 deletion(-)
 create mode 100644 people_app/CMakeLists.txt
 create mode 100644 people_app/launch/pr2.rviz
 create mode 100644 people_app/launch/sample_facedetector_rgbd_pr2.launch
 create mode 100644 people_app/launch/sample_facedetector_rgbd_turtlebot.launch
 create mode 100644 people_app/launch/sample_facedetector_rgbd_xtion.launch
 create mode 100644 people_app/launch/turtlebot.rviz
 create mode 100644 people_app/package.xml

diff --git a/people/package.xml b/people/package.xml
index 1ab741a3..48eb1f55 100644
--- a/people/package.xml
+++ b/people/package.xml
@@ -18,6 +18,7 @@
 
 
   <!-- Dependencies needed after this package is compiled. -->
+  <run_depend>people_app</run_depend>
   <run_depend>people_msgs</run_depend>
   <run_depend>face_detector</run_depend>
   <run_depend>leg_detector</run_depend>
diff --git a/people_app/CMakeLists.txt b/people_app/CMakeLists.txt
new file mode 100644
index 00000000..0d8843db
--- /dev/null
+++ b/people_app/CMakeLists.txt
@@ -0,0 +1,48 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(people_app)
+
+find_package(catkin REQUIRED COMPONENTS
+  face_detector
+  jsk_pr2_startup
+  leg_detector
+  people_msgs
+  pr2_gazebo
+  turtlebot_gazebo
+)
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES people_app
+#  CATKIN_DEPENDS face_detector jsk_pr2_startup leg_detector people_msgs pr2_gazebo turtlebot_gazebo
+#  DEPENDS system_lib
+)
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_people_app.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/people_app/launch/pr2.rviz b/people_app/launch/pr2.rviz
new file mode 100644
index 00000000..fb748c42
--- /dev/null
+++ b/people_app/launch/pr2.rviz
@@ -0,0 +1,1130 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+      Splitter Ratio: 0.557554
+    Tree Height: 440
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: BaseScan
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.03
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Buffer Length: 1
+      Class: rviz/Path
+      Color: 0; 0; 255
+      Enabled: false
+      Line Style: Lines
+      Line Width: 0.03
+      Name: Path
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Topic: /move_base_node/DWAPlannerROS/global_plan
+      Value: false
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base_bellow_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        base_footprint:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        base_laser_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        bl_caster_l_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        bl_caster_r_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        bl_caster_rotation_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        br_caster_l_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        br_caster_r_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        br_caster_rotation_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        double_stereo_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        fl_caster_l_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        fl_caster_r_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        fl_caster_rotation_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        fr_caster_l_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        fr_caster_r_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        fr_caster_rotation_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        head_mount_kinect_ir_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        head_mount_kinect_ir_optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        head_mount_kinect_rgb_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        head_mount_kinect_rgb_optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        head_mount_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        head_mount_prosilica_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        head_mount_prosilica_optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        head_pan_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        head_plate_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        head_tilt_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        high_def_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        high_def_optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        imu_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        l_elbow_flex_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        l_forearm_cam_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        l_forearm_cam_optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        l_forearm_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        l_forearm_roll_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        l_gripper_l_finger_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        l_gripper_l_finger_tip_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        l_gripper_l_finger_tip_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        l_gripper_led_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        l_gripper_motor_accelerometer_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        l_gripper_motor_screw_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        l_gripper_motor_slider_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        l_gripper_palm_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        l_gripper_r_finger_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        l_gripper_r_finger_tip_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        l_gripper_tool_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        l_shoulder_lift_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        l_shoulder_pan_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        l_torso_lift_side_plate_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        l_upper_arm_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        l_upper_arm_roll_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        l_wrist_flex_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        l_wrist_roll_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        laser_tilt_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        laser_tilt_mount_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        narrow_stereo_l_stereo_camera_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        narrow_stereo_l_stereo_camera_optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        narrow_stereo_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        narrow_stereo_optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        narrow_stereo_r_stereo_camera_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        narrow_stereo_r_stereo_camera_optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        projector_wg6802418_child_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        projector_wg6802418_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        r_elbow_flex_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        r_forearm_cam_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        r_forearm_cam_optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        r_forearm_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        r_forearm_roll_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        r_gripper_l_finger_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        r_gripper_l_finger_tip_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        r_gripper_l_finger_tip_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        r_gripper_led_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        r_gripper_motor_accelerometer_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        r_gripper_motor_screw_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        r_gripper_motor_slider_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        r_gripper_palm_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        r_gripper_r_finger_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        r_gripper_r_finger_tip_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        r_gripper_tool_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        r_shoulder_lift_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        r_shoulder_pan_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        r_torso_lift_side_plate_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        r_upper_arm_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        r_upper_arm_roll_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        r_wrist_flex_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        r_wrist_roll_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        sensor_mount_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        torso_lift_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        torso_lift_motor_screw_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        wide_stereo_l_stereo_camera_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        wide_stereo_l_stereo_camera_optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        wide_stereo_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        wide_stereo_optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        wide_stereo_r_stereo_camera_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        wide_stereo_r_stereo_camera_optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/LaserScan
+      Color: 255; 255; 0
+      Color Transformer: FlatColor
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: BaseScan
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.07
+      Style: Spheres
+      Topic: /base_scan
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 8.98706
+        Min Value: 2.21355
+        Value: true
+      Axis: X
+      Channel Name: z
+      Class: rviz/LaserScan
+      Color: 255; 255; 255
+      Color Transformer: FlatColor
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 1.08762
+      Min Color: 0; 0; 0
+      Min Intensity: 0.19098
+      Name: TiltScan
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.01
+      Style: Flat Squares
+      Topic: /tilt_scan
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: false
+    - Alpha: 0.7
+      Class: rviz/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: true
+      Name: Map
+      Topic: /map
+      Value: true
+    - Alpha: 1
+      Class: rviz/Polygon
+      Color: 255; 0; 0
+      Enabled: false
+      Name: FootPrint
+      Topic: /move_base_node/local_costmap/obstacle_layer_footprint/footprint_stamped
+      Value: false
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: RGB8
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: KinectPointCloud
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.008
+      Style: Flat Squares
+      Topic: /kinect_head_c2/depth_registered/half/points
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 0.815162
+        Min Value: 0.471843
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 0; 0
+      Color Transformer: FlatColor
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: TiltLaserPointCloud
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.03
+      Style: Flat Squares
+      Topic: /tilt_scan_filtered
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: false
+    - Class: rviz/TF
+      Enabled: false
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        {}
+      Update Interval: 0
+      Value: false
+    - Class: rviz/Camera
+      Enabled: false
+      Image Rendering: background and overlay
+      Image Topic: /kinect_head_c2/rgb/image_rect_color
+      Name: KinectCamera
+      Overlay Alpha: 0.3
+      Queue Size: 2
+      Transport Hint: raw
+      Value: false
+      Visibility:
+        "": true
+        AmbientSound: false
+        BaseScan: false
+        Battery:
+          Battery0: true
+          Battery1: true
+          Battery2: true
+          Battery3: true
+          Value: true
+        BoundingBoxArray: true
+        Diagnostics:
+          Computers: true
+          Motors: true
+          Power: true
+          Value: true
+        FootPrint: true
+        GlobalCostMap: true
+        Grid: true
+        Grounds: true
+        KinectCameraInfo: false
+        KinectPointCloud: false
+        LaserChairFoot: false
+        LaserFilteredFoot: true
+        LocalCostMap: true
+        Map: true
+        NarrowCamera: true
+        ObjectDetection: false
+        OccupancyGrid: true
+        Path: true
+        PeoplePositionMeasurementArray: false
+        RobotModel: false
+        SafeCostMap: true
+        Spot: false
+        TF: true
+        TiltLaserPointCloud: true
+        TiltScan: false
+        Value: true
+        Walls: false
+      Zoom Factor: 1
+    - Class: rviz/Camera
+      Enabled: false
+      Image Rendering: background and overlay
+      Image Topic: /narrow_stereo/left/image_rect_color
+      Name: NarrowCamera
+      Overlay Alpha: 0.5
+      Queue Size: 2
+      Transport Hint: raw
+      Value: false
+      Visibility:
+        "": true
+        AmbientSound: true
+        BaseScan: true
+        Battery:
+          Battery0: true
+          Battery1: true
+          Battery2: true
+          Battery3: true
+          Value: true
+        BoundingBoxArray: true
+        Diagnostics:
+          Computers: true
+          Motors: true
+          Power: true
+          Value: true
+        FootPrint: true
+        GlobalCostMap: true
+        Grid: true
+        Grounds: true
+        KinectCamera: true
+        KinectCameraInfo: true
+        KinectPointCloud: true
+        LaserChairFoot: true
+        LaserFilteredFoot: true
+        LocalCostMap: true
+        Map: true
+        ObjectDetection: true
+        OccupancyGrid: true
+        Path: true
+        PeoplePositionMeasurementArray: true
+        RobotModel: true
+        SafeCostMap: true
+        Spot: true
+        TF: true
+        TiltLaserPointCloud: true
+        TiltScan: true
+        Value: true
+        Walls: true
+      Zoom Factor: 1
+    - Class: rviz/MarkerArray
+      Enabled: false
+      Marker Topic: /spots_marker_array
+      Name: Spot
+      Namespaces:
+        {}
+      Queue Size: 100
+      Value: false
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/LaserScan
+      Color: 255; 85; 0
+      Color Transformer: FlatColor
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: LaserFilteredFoot
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.15
+      Style: Spheres
+      Topic: /scan_filtered_foot
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: false
+    - Class: rviz/MarkerArray
+      Enabled: false
+      Marker Topic: /detect_chair_debug_marker
+      Name: LaserChairFoot
+      Namespaces:
+        {}
+      Queue Size: 100
+      Value: false
+    - Class: rviz/MarkerArray
+      Enabled: false
+      Marker Topic: /object_detection_marker_array
+      Name: ObjectDetection
+      Namespaces:
+        {}
+      Queue Size: 100
+      Value: false
+    - Class: jsk_rviz_plugin/PeoplePositionMeasurementArray
+      Enabled: true
+      Name: PeoplePositionMeasurementArray
+      Topic: /face_detector/people_tracker_measurements_array
+      Value: true
+      anonymous: false
+      size: 0.3
+      text: person found here person found here
+      timeout: 100
+    - Class: jsk_rviz_plugin/CameraInfo
+      Enabled: false
+      Image Topic: ""
+      Name: KinectCameraInfo
+      Topic: /kinect_head/depth_registered/camera_info
+      Value: false
+      alpha: 0.5
+      color: 85; 255; 255
+      edge color: 255; 0; 0
+      far clip: 2
+      not show side polygons: true
+      show edges: true
+      show polygons: false
+      use image: false
+    - Alpha: 1
+      Bias: 25
+      Class: jsk_rviz_plugin/AmbientSound
+      Color: 204; 51; 204
+      Enabled: false
+      Gradient: 0.5
+      History Length: 1
+      Name: AmbientSound
+      Scale: 0.3
+      Topic: /HarkPower
+      Value: false
+      Width: 0.1
+    - Class: rviz/Group
+      Displays:
+        - Class: jsk_rviz_plugin/PieChart
+          Enabled: true
+          Name: Battery0
+          Topic: /visualization/battery/value0
+          Value: true
+          auto color change: false
+          background color: 0; 0; 0
+          backround alpha: 0
+          foreground alpha: 0.7
+          foreground alpha 2: 0.4
+          foreground color: 25; 255; 240
+          left: 0
+          max color: 255; 0; 0
+          max value: 100
+          min value: 0
+          show caption: true
+          size: 128
+          text size: 14
+          top: 0
+        - Class: jsk_rviz_plugin/PieChart
+          Enabled: true
+          Name: Battery1
+          Topic: /visualization/battery/value1
+          Value: true
+          auto color change: false
+          background color: 0; 0; 0
+          backround alpha: 0
+          foreground alpha: 0.7
+          foreground alpha 2: 0.4
+          foreground color: 25; 255; 240
+          left: 128
+          max color: 255; 0; 0
+          max value: 100
+          min value: 0
+          show caption: true
+          size: 128
+          text size: 14
+          top: 0
+        - Class: jsk_rviz_plugin/PieChart
+          Enabled: true
+          Name: Battery2
+          Topic: /visualization/battery/value2
+          Value: true
+          auto color change: false
+          background color: 0; 0; 0
+          backround alpha: 0
+          foreground alpha: 0.7
+          foreground alpha 2: 0.4
+          foreground color: 25; 255; 240
+          left: 256
+          max color: 255; 0; 0
+          max value: 100
+          min value: 0
+          show caption: true
+          size: 128
+          text size: 14
+          top: 0
+        - Class: jsk_rviz_plugin/PieChart
+          Enabled: true
+          Name: Battery3
+          Topic: /visualization/battery/value3
+          Value: true
+          auto color change: false
+          background color: 0; 0; 0
+          backround alpha: 0
+          foreground alpha: 0.7
+          foreground alpha 2: 0.4
+          foreground color: 25; 255; 240
+          left: 384
+          max color: 255; 0; 0
+          max value: 100
+          min value: 0
+          show caption: true
+          size: 128
+          text size: 14
+          top: 0
+      Enabled: true
+      Name: Battery
+    - Class: rviz/Group
+      Displays:
+        - Class: jsk_rviz_plugin/Diagnostics
+          Enabled: true
+          Name: Power
+          Topic: /diagnostics_agg
+          Value: true
+          axis: x
+          diagnostics namespace: /Power System
+          font size: 0.05
+          frame_id: base_link
+          line width: 0.03
+          radius: 0.5
+        - Class: jsk_rviz_plugin/Diagnostics
+          Enabled: true
+          Name: Motors
+          Topic: /diagnostics_agg
+          Value: true
+          axis: x
+          diagnostics namespace: /Motors
+          font size: 0.05
+          frame_id: base_link
+          line width: 0.03
+          radius: 0.7
+        - Class: jsk_rviz_plugin/Diagnostics
+          Enabled: true
+          Name: Computers
+          Topic: /diagnostics_agg
+          Value: true
+          axis: x
+          diagnostics namespace: /Computers
+          font size: 0.05
+          frame_id: base_link
+          line width: 0.03
+          radius: 0.9
+      Enabled: true
+      Name: Diagnostics
+    - Alpha: 0.3
+      Class: rviz/Map
+      Color Scheme: costmap
+      Draw Behind: false
+      Enabled: false
+      Name: SafeCostMap
+      Topic: /safe_teleop_base/local_costmap/costmap
+      Value: false
+    - Alpha: 0.35
+      Class: rviz/Map
+      Color Scheme: costmap
+      Draw Behind: false
+      Enabled: false
+      Name: LocalCostMap
+      Topic: ""
+      Value: false
+    - Alpha: 0.35
+      Class: rviz/Map
+      Color Scheme: costmap
+      Draw Behind: false
+      Enabled: false
+      Name: GlobalCostMap
+      Topic: ""
+      Value: false
+    - Class: octomap_rviz_plugin/OccupancyGrid
+      Enabled: false
+      Name: OccupancyGrid
+    - Alpha: 0.8
+      Class: jsk_rviz_plugin/PolygonArray
+      Color: 25; 255; 0
+      Enabled: true
+      Name: Walls
+      Topic: /plane_reasoner/output/vertical/polygons
+      Value: true
+      coloring: Auto
+      normal length: 0.1
+      only border: false
+      show normal: true
+    - Alpha: 0.8
+      Class: jsk_rviz_plugin/PolygonArray
+      Color: 255; 0; 0
+      Enabled: true
+      Name: Grounds
+      Topic: /plane_reasoner/output/horizontal/polygons
+      Value: true
+      coloring: Auto
+      normal length: 0.1
+      only border: false
+      show normal: true
+    - Class: jsk_rviz_plugin/BoundingBoxArray
+      Enabled: false
+      Name: BoundingBoxArray
+      Topic: /cluster_decomposer_final/boxes
+      Value: false
+      alpha: 0.8
+      color: 25; 255; 0
+      coloring: Auto
+      line width: 0.01
+      only edge: true
+      show coords: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 1.92572
+        Min Value: 0.00373662
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: AxisColor
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.01
+      Style: Flat Squares
+      Topic: /head_mount_kinect/depth/points
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /head_mount_kinect/rgb/image_raw
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: base_footprint
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+    - Class: jsk_rviz_plugin/CloseAll
+    - Class: jsk_rviz_plugin/OpenAll
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 9.8127
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.06
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -0.988531
+        Y: 3.85489
+        Z: -0.93679
+      Name: Current View
+      Near Clip Distance: 0.01
+      Pitch: 0.459961
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 5.31522
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 922
+  Hide Left Dock: false
+  Hide Right Dock: false
+  Image:
+    collapsed: false
+  KinectCamera:
+    collapsed: false
+  NarrowCamera:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000012800000310fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000247000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000018004b0069006e00650063007400430061006d00650072006102000000830000013e0000026c000001bafb00000018004e006100720072006f007700430061006d006500720061000000022e000000be0000001600fffffffb0000000a0049006d0061006700650100000275000000c30000001600ffffff000000010000010f0000035cfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000340000035c000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006770000003efc0100000002fb0000000800540069006d0065010000000000000677000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000005490000031000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1655
+  X: 203
+  Y: 1170
diff --git a/people_app/launch/sample_facedetector_rgbd_pr2.launch b/people_app/launch/sample_facedetector_rgbd_pr2.launch
new file mode 100644
index 00000000..3824ffc3
--- /dev/null
+++ b/people_app/launch/sample_facedetector_rgbd_pr2.launch
@@ -0,0 +1,19 @@
+<launch>
+  <arg name="camera" default="head_mount_kinect" />
+  <arg name="depth_ns" default="depth" /> 
+  <arg name="image_topic" default="image_raw" />
+  <arg name="depth_topic" default="image_raw" />
+  <arg name="fixed_frame" default="head_mount_kinect_rgb_link" />
+
+  <include file="$(find face_detector)/launch/face_detector.rgbd.launch">
+    <arg name="camera" value="$(arg camera)" />
+    <arg name="rgb_ns" value="rgb" />
+    <arg name="depth_ns" value="$(arg depth_ns)" />
+    <arg name="image_topic" value="$(arg image_topic)" />
+    <arg name="depth_topic" value="$(arg depth_topic)" />
+    <arg name="fixed_frame" value="$(arg fixed_frame)" />
+  </include>
+
+  <node pkg="rviz" type="rviz" name="pr2_facedetect_rviz"
+        args="-d $(find people_app)/launch/pr2.rviz" />
+</launch>
diff --git a/people_app/launch/sample_facedetector_rgbd_turtlebot.launch b/people_app/launch/sample_facedetector_rgbd_turtlebot.launch
new file mode 100644
index 00000000..7cb96fd7
--- /dev/null
+++ b/people_app/launch/sample_facedetector_rgbd_turtlebot.launch
@@ -0,0 +1,20 @@
+<launch>
+  <arg name="camera" default="camera" />
+  <arg name="rgb_ns" default="rgb" /> 
+  <arg name="depth_ns" default="depth" /> 
+  <arg name="image_topic" default="image_raw" />
+  <arg name="depth_topic" default="image_raw" />
+  <arg name="fixed_frame" default="camera_depth_optical_frame" />  <!-- This makes X: right, Y: backward, Z: downward w.r.t robot facing front. -->
+
+  <include file="$(find face_detector)/launch/face_detector.rgbd.launch"> 
+    <arg name="camera" value="$(arg camera)" />
+    <arg name="depth_ns" value="$(arg depth_ns)" />
+    <arg name="rgb_ns" value="$(arg rgb_ns)" />
+    <arg name="image_topic" value="$(arg image_topic)" />
+    <arg name="depth_topic" value="$(arg depth_topic)" />
+    <arg name="fixed_frame" value="$(arg fixed_frame)" />
+  </include>
+
+  <node pkg="rviz" type="rviz" name="pr2_facedetect_rviz"
+        args="-d $(find people_app)/launch/turtlebot.rviz" />
+</launch>
diff --git a/people_app/launch/sample_facedetector_rgbd_xtion.launch b/people_app/launch/sample_facedetector_rgbd_xtion.launch
new file mode 100644
index 00000000..54a7e4d0
--- /dev/null
+++ b/people_app/launch/sample_facedetector_rgbd_xtion.launch
@@ -0,0 +1,30 @@
+<launch>
+  <arg name="camera" default="camera" />
+  <arg name="image_topic" default="image_raw" />
+  <arg name="depth_topic" default="image_raw" />
+  <arg name="fixed_frame" default="camera_rgb_optical_frame" />
+  <arg name="depth_ns" default="depth_registered" />
+
+  <!--include file="$(find openni2_launch)/launch/openni2.launch"/-->
+  <node name="$(anon dynparam)" pkg="dynamic_reconfigure" type="dynparam" args="set_from_parameters $(arg camera)/driver">
+    <param name="depth_registration" type="bool" value="true" />
+  </node>
+
+ <node pkg="face_detector" type="face_detector" name="face_detector" output="screen">
+    <remap from="camera" to="$(arg camera)" />
+    <remap from="image_topic" to="$(arg image_topic)" />
+    <remap from="depth_topic" to="$(arg depth_topic)" />
+    <remap from="depth_ns" to="$(arg depth_ns)" />
+    <param name="fixed_frame" type="string" value="$(arg fixed_frame)" />
+    <param name="classifier_name" type="string" value="frontalface" />
+    <rosparam command="load" file="$(find face_detector)/param/classifier.yaml"/>
+    <param name="classifier_reliability" type="double" value="0.2"/>
+    <param name="do_continuous" type="bool" value="true" />
+    <param name="do_publish_faces_of_unknown_size" type="bool" value="true" />	
+    <param name="do_display" type="bool" value="true" />
+    <param name="use_rgbd" type="bool" value="true" />
+    <param name="approximate_sync" type="bool" value="true" />
+  </node>
+
+  <include file="$(find jsk_pr2_startupface_detector)/launch/rviz.launch">
+</launch>
diff --git a/people_app/launch/turtlebot.rviz b/people_app/launch/turtlebot.rviz
new file mode 100644
index 00000000..07df5aa7
--- /dev/null
+++ b/people_app/launch/turtlebot.rviz
@@ -0,0 +1,336 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+      Splitter Ratio: 0.5
+    Tree Height: 284
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: PointCloud2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.03
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base_footprint:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        camera_depth_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_depth_optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        camera_rgb_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_rgb_optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        caster_back_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        caster_front_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        cliff_sensor_front_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        cliff_sensor_left_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        cliff_sensor_right_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        gyro_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        mount_asus_xtion_pro_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        plate_bottom_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        plate_middle_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        plate_top_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        pole_bottom_0_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        pole_bottom_1_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        pole_bottom_2_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        pole_bottom_3_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        pole_bottom_4_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        pole_bottom_5_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        pole_kinect_0_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        pole_kinect_1_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        pole_middle_0_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        pole_middle_1_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        pole_middle_2_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        pole_middle_3_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        pole_top_0_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        pole_top_1_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        pole_top_2_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        pole_top_3_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheel_left_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheel_right_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: jsk_rviz_plugin/PeoplePositionMeasurementArray
+      Enabled: true
+      Name: PeoplePositionMeasurementArray
+      Topic: /face_detector/people_tracker_measurements_array
+      Value: true
+      anonymous: false
+      size: 0.3
+      text: person found here person found here
+      timeout: 10
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 1.85443
+        Min Value: -0.0381068
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: AxisColor
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.01
+      Style: Flat Squares
+      Topic: /camera/depth/points
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /camera/rgb/image_raw
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: base_footprint
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/MoveCamera
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/Select
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 6.68197
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.06
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0.25435
+        Y: -0.153974
+        Z: 0.360948
+      Name: Current View
+      Near Clip Distance: 0.01
+      Pitch: 0.340399
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 3.72357
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 894
+  Hide Left Dock: false
+  Hide Right Dock: false
+  Image:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000018c00000338fc0200000006fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000001ab000000dd00fffffffb0000000a0049006d00610067006501000001d9000001870000001600ffffff000000010000010f0000034efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000280000034e000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000003e30000033800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1397
+  X: 164
+  Y: 1129
diff --git a/people_app/package.xml b/people_app/package.xml
new file mode 100644
index 00000000..551c2034
--- /dev/null
+++ b/people_app/package.xml
@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<package>
+  <name>people_app</name>
+  <version>1.0.10</version>
+  <description>Samples or applications of people package are stored.</description>
+  <license>BSD</license>
+  <url type="website">http://wiki.ros.org/people_app</url>
+
+  <maintainer email="iiysaito@opensource-robotics.tokyo.jp">Isaac I.Y. Saito</maintainer>
+  <author email="iiysaito@opensource-robotics.tokyo.jp">Isaac I.Y. Saito</author>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <run_depend>face_detector</run_depend>
+  <run_depend>jsk_rviz_plugins</run_depend>
+  <run_depend>leg_detector</run_depend>
+  <run_depend>people_msgs</run_depend>
+  <run_depend>pr2_gazebo</run_depend>
+  <run_depend>turtlebot_gazebo</run_depend>
+
+  <export/>
+</package>
diff --git a/people_msgs/package.xml b/people_msgs/package.xml
index cecc8782..66b8bf46 100644
--- a/people_msgs/package.xml
+++ b/people_msgs/package.xml
@@ -27,4 +27,4 @@
     <cpp cflags="-I${prefix}/msg/cpp -I${prefix}/srv/cpp"/>
 </export>
  -->
-</package>
\ No newline at end of file
+</package>