diff --git a/jetson/ros2_ws/src/saltybot_person_reid/config/person_reid_params.yaml b/jetson/ros2_ws/src/saltybot_person_reid/config/person_reid_params.yaml
new file mode 100644
index 0000000..399aa9b
--- /dev/null
+++ b/jetson/ros2_ws/src/saltybot_person_reid/config/person_reid_params.yaml
@@ -0,0 +1,6 @@
+person_reid:
+ ros__parameters:
+ model_path: '' # path to MobileNetV2+projection ONNX file (empty = histogram fallback)
+ match_threshold: 0.75 # cosine similarity threshold for re-ID match
+ max_identity_age_s: 300.0 # seconds before unseen identity is pruned
+ publish_hz: 5.0 # publication rate (Hz)
diff --git a/jetson/ros2_ws/src/saltybot_person_reid/package.xml b/jetson/ros2_ws/src/saltybot_person_reid/package.xml
new file mode 100644
index 0000000..4db8663
--- /dev/null
+++ b/jetson/ros2_ws/src/saltybot_person_reid/package.xml
@@ -0,0 +1,28 @@
+
+
+
+ saltybot_person_reid
+ 0.1.0
+
+ Person re-identification node — cross-camera appearance matching using
+ MobileNetV2 ONNX embeddings (128-dim, cosine similarity gallery).
+
+ SaltyLab
+ MIT
+
+ rclpy
+ sensor_msgs
+ vision_msgs
+ cv_bridge
+ message_filters
+ saltybot_person_reid_msgs
+
+ python3-numpy
+ python3-opencv
+
+ pytest
+
+
+ ament_python
+
+
diff --git a/jetson/ros2_ws/src/saltybot_person_reid/resource/saltybot_person_reid b/jetson/ros2_ws/src/saltybot_person_reid/resource/saltybot_person_reid
new file mode 100644
index 0000000..e69de29
diff --git a/jetson/ros2_ws/src/saltybot_person_reid/saltybot_person_reid/__init__.py b/jetson/ros2_ws/src/saltybot_person_reid/saltybot_person_reid/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/jetson/ros2_ws/src/saltybot_person_reid/saltybot_person_reid/_embedding_model.py b/jetson/ros2_ws/src/saltybot_person_reid/saltybot_person_reid/_embedding_model.py
new file mode 100644
index 0000000..d2fb225
--- /dev/null
+++ b/jetson/ros2_ws/src/saltybot_person_reid/saltybot_person_reid/_embedding_model.py
@@ -0,0 +1,95 @@
+"""
+_embedding_model.py — Appearance embedding extractor (no ROS2 deps).
+
+Primary: MobileNetV2 ONNX torso crop → 128-dim L2-normalised embedding.
+Fallback: 128-bin HSV histogram (H:16 × S:8) when no model file is available.
+"""
+
+from __future__ import annotations
+
+import numpy as np
+import cv2
+
+# Top fraction of the bounding box height used as torso crop
+_INPUT_SIZE = (128, 256) # (W, H) fed to MobileNetV2
+
+
+class EmbeddingModel:
+ """
+ Extract a 128-dim L2-normalised appearance embedding from a BGR crop.
+
+ Parameters
+ ----------
+ model_path : str or None
+ Path to a MobileNetV2+projection ONNX file. When None (or file
+ not found), falls back to a 128-bin HSV colour histogram.
+ """
+
+ def __init__(self, model_path: str | None = None):
+ self._net = None
+ if model_path:
+ try:
+ self._net = cv2.dnn.readNetFromONNX(model_path)
+ except Exception:
+ pass # histogram fallback
+
+ def embed(self, bgr_crop: np.ndarray) -> np.ndarray:
+ """
+ Parameters
+ ----------
+ bgr_crop : np.ndarray shape (H, W, 3) uint8
+
+ Returns
+ -------
+ np.ndarray shape (128,) float32, L2-normalised
+ """
+ if bgr_crop.size == 0:
+ return np.zeros(128, dtype=np.float32)
+
+ if self._net is not None:
+ return self._mobilenet_embed(bgr_crop)
+ return self._histogram_embed(bgr_crop)
+
+ # ── MobileNetV2 path ──────────────────────────────────────────────────────
+
+ def _mobilenet_embed(self, bgr: np.ndarray) -> np.ndarray:
+ resized = cv2.resize(bgr, _INPUT_SIZE)
+ blob = cv2.dnn.blobFromImage(
+ resized,
+ scalefactor=1.0 / 255.0,
+ size=_INPUT_SIZE,
+ mean=(0.485 * 255, 0.456 * 255, 0.406 * 255),
+ swapRB=True,
+ crop=False,
+ )
+ # Std normalisation: divide channel-wise
+ blob[:, 0] /= 0.229
+ blob[:, 1] /= 0.224
+ blob[:, 2] /= 0.225
+
+ self._net.setInput(blob)
+ feat = self._net.forward().flatten().astype(np.float32)
+
+ # Ensure 128-dim — average-pool if model output differs
+ if feat.shape[0] != 128:
+ n = feat.shape[0]
+ block = max(1, n // 128)
+ feat = feat[: block * 128].reshape(128, block).mean(axis=1)
+
+ return _l2_norm(feat)
+
+ # ── HSV histogram fallback ────────────────────────────────────────────────
+
+ def _histogram_embed(self, bgr: np.ndarray) -> np.ndarray:
+ """128-bin HSV histogram: 16 H-bins × 8 S-bins, concatenated."""
+ hsv = cv2.cvtColor(bgr, cv2.COLOR_BGR2HSV)
+ hist = cv2.calcHist(
+ [hsv], [0, 1], None,
+ [16, 8], [0, 180, 0, 256],
+ ).flatten().astype(np.float32)
+ return _l2_norm(hist)
+
+
+def _l2_norm(v: np.ndarray) -> np.ndarray:
+ n = float(np.linalg.norm(v))
+ return v / n if n > 1e-6 else v
diff --git a/jetson/ros2_ws/src/saltybot_person_reid/saltybot_person_reid/_reid_gallery.py b/jetson/ros2_ws/src/saltybot_person_reid/saltybot_person_reid/_reid_gallery.py
new file mode 100644
index 0000000..d16dc0c
--- /dev/null
+++ b/jetson/ros2_ws/src/saltybot_person_reid/saltybot_person_reid/_reid_gallery.py
@@ -0,0 +1,105 @@
+"""
+_reid_gallery.py — Appearance gallery for person re-identification (no ROS2 deps).
+
+Matches an incoming embedding against stored identities using cosine similarity.
+New identities are created when the best match falls below the threshold.
+"""
+
+from __future__ import annotations
+
+import time
+from dataclasses import dataclass, field
+from typing import List, Tuple
+
+import numpy as np
+
+
+@dataclass
+class Identity:
+ identity_id: int
+ embedding: np.ndarray # shape (D,) L2-normalised
+ last_seen: float = field(default_factory=time.monotonic)
+ hit_count: int = 1
+
+ def update(self, new_embedding: np.ndarray, alpha: float = 0.1) -> None:
+ """EMA update of the stored embedding, re-normalised after blending."""
+ merged = (1.0 - alpha) * self.embedding + alpha * new_embedding
+ n = float(np.linalg.norm(merged))
+ self.embedding = merged / n if n > 1e-6 else merged
+ self.last_seen = time.monotonic()
+ self.hit_count += 1
+
+
+class ReidGallery:
+ """
+ Lightweight cosine-similarity re-ID gallery.
+
+ Parameters
+ ----------
+ match_threshold : float
+ Cosine similarity (dot product of unit vectors) required to accept a
+ match. Range [0, 1]; 0 = always new identity, 1 = perfect match only.
+ max_age_s : float
+ Identities not seen for this many seconds are pruned.
+ """
+
+ def __init__(
+ self,
+ match_threshold: float = 0.75,
+ max_age_s: float = 300.0,
+ ):
+ self._threshold = match_threshold
+ self._max_age_s = max_age_s
+ self._identities: List[Identity] = []
+ self._next_id = 1
+
+ def match(self, embedding: np.ndarray) -> Tuple[int, float, bool]:
+ """
+ Match embedding against the gallery.
+
+ Returns
+ -------
+ (identity_id, match_score, is_new)
+ identity_id : assigned ID (new or existing)
+ match_score : cosine similarity to best match (0.0 if new)
+ is_new : True if a new identity was created
+ """
+ self._prune()
+
+ if not self._identities:
+ return self._add_identity(embedding)
+
+ scores = np.array(
+ [float(np.dot(embedding, ident.embedding)) for ident in self._identities]
+ )
+ best_idx = int(np.argmax(scores))
+ best_score = float(scores[best_idx])
+
+ if best_score >= self._threshold:
+ ident = self._identities[best_idx]
+ ident.update(embedding)
+ return ident.identity_id, best_score, False
+
+ return self._add_identity(embedding)
+
+ # ── Internal helpers ──────────────────────────────────────────────────────
+
+ def _add_identity(self, embedding: np.ndarray) -> Tuple[int, float, bool]:
+ new_id = self._next_id
+ self._next_id += 1
+ self._identities.append(
+ Identity(identity_id=new_id, embedding=embedding.copy())
+ )
+ return new_id, 0.0, True
+
+ def _prune(self) -> None:
+ now = time.monotonic()
+ self._identities = [
+ ident
+ for ident in self._identities
+ if now - ident.last_seen < self._max_age_s
+ ]
+
+ @property
+ def size(self) -> int:
+ return len(self._identities)
diff --git a/jetson/ros2_ws/src/saltybot_person_reid/saltybot_person_reid/person_reid_node.py b/jetson/ros2_ws/src/saltybot_person_reid/saltybot_person_reid/person_reid_node.py
new file mode 100644
index 0000000..decc781
--- /dev/null
+++ b/jetson/ros2_ws/src/saltybot_person_reid/saltybot_person_reid/person_reid_node.py
@@ -0,0 +1,174 @@
+"""
+person_reid_node.py — Person re-identification for cross-camera tracking.
+
+Subscribes to:
+ /person/detections vision_msgs/Detection2DArray (person bounding boxes)
+ /camera/color/image_raw sensor_msgs/Image (colour frame for crops)
+
+Publishes:
+ /saltybot/person_reid saltybot_person_reid_msgs/PersonAppearanceArray (5 Hz)
+
+For each detected person the node:
+ 1. Crops the torso region (top 65 % of the bounding box height).
+ 2. Extracts a 128-dim L2-normalised embedding via MobileNetV2 ONNX (if the
+ model file is provided) or a 128-bin HSV colour histogram (fallback).
+ 3. Matches against a cosine-similarity gallery.
+ 4. Assigns a persistent identity_id (new or existing).
+
+Parameters:
+ model_path str '' Path to MobileNetV2+projection ONNX file
+ match_threshold float 0.75 Cosine similarity threshold for matching
+ max_identity_age_s float 300.0 Seconds before an unseen identity is pruned
+ publish_hz float 5.0 Publication rate (Hz)
+"""
+
+from __future__ import annotations
+
+from typing import List
+
+import rclpy
+from rclpy.node import Node
+from rclpy.qos import QoSProfile, ReliabilityPolicy, HistoryPolicy
+
+import message_filters
+import cv2
+import numpy as np
+from cv_bridge import CvBridge
+
+from sensor_msgs.msg import Image
+from vision_msgs.msg import Detection2DArray
+
+from saltybot_person_reid_msgs.msg import PersonAppearance, PersonAppearanceArray
+
+from ._embedding_model import EmbeddingModel
+from ._reid_gallery import ReidGallery
+
+# Fraction of bbox height kept as torso crop (top portion)
+_TORSO_FRAC = 0.65
+
+_BEST_EFFORT_QOS = QoSProfile(
+ reliability=ReliabilityPolicy.BEST_EFFORT,
+ history=HistoryPolicy.KEEP_LAST,
+ depth=4,
+)
+
+
+class PersonReidNode(Node):
+
+ def __init__(self):
+ super().__init__('person_reid')
+
+ self.declare_parameter('model_path', '')
+ self.declare_parameter('match_threshold', 0.75)
+ self.declare_parameter('max_identity_age_s', 300.0)
+ self.declare_parameter('publish_hz', 5.0)
+
+ model_path = self.get_parameter('model_path').value
+ match_thr = self.get_parameter('match_threshold').value
+ max_age = self.get_parameter('max_identity_age_s').value
+ publish_hz = self.get_parameter('publish_hz').value
+
+ self._bridge = CvBridge()
+ self._embedder = EmbeddingModel(model_path or None)
+ self._gallery = ReidGallery(match_threshold=match_thr, max_age_s=max_age)
+
+ # Buffer: updated by frame callback, drained by timer
+ self._pending: List[PersonAppearance] = []
+ self._pending_header = None
+
+ # Synchronized subscribers
+ det_sub = message_filters.Subscriber(
+ self, Detection2DArray, '/person/detections',
+ qos_profile=_BEST_EFFORT_QOS)
+ img_sub = message_filters.Subscriber(
+ self, Image, '/camera/color/image_raw',
+ qos_profile=_BEST_EFFORT_QOS)
+ self._sync = message_filters.ApproximateTimeSynchronizer(
+ [det_sub, img_sub], queue_size=4, slop=0.1)
+ self._sync.registerCallback(self._on_frame)
+
+ self._pub = self.create_publisher(
+ PersonAppearanceArray, '/saltybot/person_reid', 10)
+
+ self.create_timer(1.0 / publish_hz, self._tick)
+
+ backend = 'ONNX' if self._embedder._net else 'histogram'
+ self.get_logger().info(
+ f'person_reid ready — backend={backend} '
+ f'threshold={match_thr} max_age={max_age}s'
+ )
+
+ # ── Frame callback ─────────────────────────────────────────────────────────
+
+ def _on_frame(self, det_msg: Detection2DArray, img_msg: Image) -> None:
+ if not det_msg.detections:
+ self._pending = []
+ self._pending_header = det_msg.header
+ return
+
+ try:
+ bgr = self._bridge.imgmsg_to_cv2(img_msg, desired_encoding='bgr8')
+ except Exception as exc:
+ self.get_logger().error(
+ f'imgmsg_to_cv2 failed: {exc}', throttle_duration_sec=5.0)
+ return
+
+ h_img, w_img = bgr.shape[:2]
+ appearances: List[PersonAppearance] = []
+
+ for det in det_msg.detections:
+ cx = det.bbox.center.position.x
+ cy = det.bbox.center.position.y
+ bw = det.bbox.size_x
+ bh = det.bbox.size_y
+ conf = det.results[0].hypothesis.score if det.results else 0.0
+
+ # Torso crop: top TORSO_FRAC of bounding box
+ x1 = max(0, int(cx - bw / 2.0))
+ y1 = max(0, int(cy - bh / 2.0))
+ x2 = min(w_img, int(cx + bw / 2.0))
+ y2 = min(h_img, int(cy - bh / 2.0 + bh * _TORSO_FRAC))
+
+ if x2 - x1 < 8 or y2 - y1 < 8:
+ continue
+
+ crop = bgr[y1:y2, x1:x2]
+ emb = self._embedder.embed(crop)
+ identity_id, match_score, is_new = self._gallery.match(emb)
+
+ app = PersonAppearance()
+ app.header = det_msg.header
+ app.track_id = identity_id
+ app.embedding = emb.tolist()
+ app.bbox = det.bbox
+ app.confidence = float(conf)
+ app.match_score = float(match_score)
+ app.is_new_identity = is_new
+ appearances.append(app)
+
+ self._pending = appearances
+ self._pending_header = det_msg.header
+
+ # ── 5 Hz publish tick ─────────────────────────────────────────────────────
+
+ def _tick(self) -> None:
+ if self._pending_header is None:
+ return
+ msg = PersonAppearanceArray()
+ msg.header = self._pending_header
+ msg.appearances = self._pending
+ self._pub.publish(msg)
+
+
+def main(args=None):
+ rclpy.init(args=args)
+ node = PersonReidNode()
+ try:
+ rclpy.spin(node)
+ finally:
+ node.destroy_node()
+ rclpy.shutdown()
+
+
+if __name__ == '__main__':
+ main()
diff --git a/jetson/ros2_ws/src/saltybot_person_reid/setup.cfg b/jetson/ros2_ws/src/saltybot_person_reid/setup.cfg
new file mode 100644
index 0000000..2e66a20
--- /dev/null
+++ b/jetson/ros2_ws/src/saltybot_person_reid/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/saltybot_person_reid
+[install]
+install_scripts=$base/lib/saltybot_person_reid
diff --git a/jetson/ros2_ws/src/saltybot_person_reid/setup.py b/jetson/ros2_ws/src/saltybot_person_reid/setup.py
new file mode 100644
index 0000000..0cc75dd
--- /dev/null
+++ b/jetson/ros2_ws/src/saltybot_person_reid/setup.py
@@ -0,0 +1,29 @@
+from setuptools import setup, find_packages
+from glob import glob
+
+package_name = 'saltybot_person_reid'
+
+setup(
+ name=package_name,
+ version='0.1.0',
+ packages=find_packages(exclude=['test']),
+ data_files=[
+ ('share/ament_index/resource_index/packages',
+ ['resource/' + package_name]),
+ ('share/' + package_name, ['package.xml']),
+ ('share/' + package_name + '/config',
+ glob('config/*.yaml')),
+ ],
+ install_requires=['setuptools'],
+ zip_safe=True,
+ maintainer='SaltyLab',
+ maintainer_email='robot@saltylab.local',
+ description='Person re-identification — cross-camera appearance matching',
+ license='MIT',
+ tests_require=['pytest'],
+ entry_points={
+ 'console_scripts': [
+ 'person_reid = saltybot_person_reid.person_reid_node:main',
+ ],
+ },
+)
diff --git a/jetson/ros2_ws/src/saltybot_person_reid/test/test_person_reid.py b/jetson/ros2_ws/src/saltybot_person_reid/test/test_person_reid.py
new file mode 100644
index 0000000..90f55b0
--- /dev/null
+++ b/jetson/ros2_ws/src/saltybot_person_reid/test/test_person_reid.py
@@ -0,0 +1,163 @@
+"""
+test_person_reid.py — Unit tests for person re-ID helpers (no ROS2 required).
+
+Covers:
+ - _l2_norm helper
+ - EmbeddingModel (histogram fallback — no model file needed)
+ - ReidGallery cosine-similarity matching
+"""
+
+import sys
+import os
+import time
+
+import numpy as np
+import pytest
+
+sys.path.insert(0, os.path.join(os.path.dirname(__file__), '..'))
+
+from saltybot_person_reid._embedding_model import EmbeddingModel, _l2_norm
+from saltybot_person_reid._reid_gallery import ReidGallery
+
+
+# ── _l2_norm ──────────────────────────────────────────────────────────────────
+
+class TestL2Norm:
+
+ def test_unit_vector_unchanged(self):
+ v = np.array([1.0, 0.0, 0.0], dtype=np.float32)
+ assert np.allclose(_l2_norm(v), v)
+
+ def test_normalised_to_unit_norm(self):
+ v = np.array([3.0, 4.0], dtype=np.float32)
+ assert abs(np.linalg.norm(_l2_norm(v)) - 1.0) < 1e-6
+
+ def test_zero_vector_does_not_crash(self):
+ v = np.zeros(4, dtype=np.float32)
+ result = _l2_norm(v)
+ assert result.shape == (4,)
+
+
+# ── EmbeddingModel ────────────────────────────────────────────────────────────
+
+class TestEmbeddingModel:
+
+ def test_histogram_fallback_shape(self):
+ m = EmbeddingModel(model_path=None)
+ bgr = np.random.randint(0, 255, (100, 50, 3), dtype=np.uint8)
+ emb = m.embed(bgr)
+ assert emb.shape == (128,)
+
+ def test_embedding_is_unit_norm(self):
+ m = EmbeddingModel(model_path=None)
+ bgr = np.random.randint(0, 255, (80, 40, 3), dtype=np.uint8)
+ emb = m.embed(bgr)
+ assert abs(np.linalg.norm(emb) - 1.0) < 1e-5
+
+ def test_empty_crop_returns_zero_vector(self):
+ m = EmbeddingModel(model_path=None)
+ emb = m.embed(np.zeros((0, 0, 3), dtype=np.uint8))
+ assert emb.shape == (128,)
+ assert np.all(emb == 0.0)
+
+ def test_red_and_blue_crops_differ(self):
+ m = EmbeddingModel(model_path=None)
+ red = np.full((80, 40, 3), (0, 0, 200), dtype=np.uint8)
+ blue = np.full((80, 40, 3), (200, 0, 0), dtype=np.uint8)
+ sim = float(np.dot(m.embed(red), m.embed(blue)))
+ assert sim < 0.99
+
+ def test_same_crop_deterministic(self):
+ m = EmbeddingModel(model_path=None)
+ bgr = np.random.randint(0, 255, (80, 40, 3), dtype=np.uint8)
+ assert np.allclose(m.embed(bgr), m.embed(bgr))
+
+ def test_embedding_float32(self):
+ m = EmbeddingModel(model_path=None)
+ bgr = np.random.randint(0, 255, (60, 30, 3), dtype=np.uint8)
+ emb = m.embed(bgr)
+ assert emb.dtype == np.float32
+
+
+# ── ReidGallery ───────────────────────────────────────────────────────────────
+
+def _unit(dim: int = 128, seed: int | None = None) -> np.ndarray:
+ rng = np.random.default_rng(seed)
+ v = rng.standard_normal(dim).astype(np.float32)
+ return v / np.linalg.norm(v)
+
+
+class TestReidGallery:
+
+ def test_first_match_creates_identity(self):
+ g = ReidGallery(match_threshold=0.75)
+ uid, score, is_new = g.match(_unit(seed=0))
+ assert uid == 1
+ assert is_new is True
+ assert score == pytest.approx(0.0)
+
+ def test_identical_embedding_matches(self):
+ g = ReidGallery(match_threshold=0.75)
+ emb = _unit(seed=1)
+ g.match(emb)
+ uid2, score2, is_new2 = g.match(emb)
+ assert uid2 == 1
+ assert is_new2 is False
+ assert score2 > 0.99
+
+ def test_orthogonal_embeddings_create_new_id(self):
+ g = ReidGallery(match_threshold=0.75)
+ e1 = np.zeros(128, dtype=np.float32); e1[0] = 1.0
+ e2 = np.zeros(128, dtype=np.float32); e2[64] = 1.0
+ uid1, _, new1 = g.match(e1)
+ uid2, _, new2 = g.match(e2)
+ assert uid1 != uid2
+ assert new2 is True
+
+ def test_ids_are_monotonically_increasing(self):
+ # threshold > 1.0 is unreachable → every embedding creates a new identity
+ g = ReidGallery(match_threshold=2.0)
+ ids = [g.match(_unit(seed=i))[0] for i in range(5)]
+ assert ids == list(range(1, 6))
+
+ def test_gallery_size_increments_for_new_ids(self):
+ g = ReidGallery(match_threshold=2.0)
+ for i in range(4):
+ g.match(_unit(seed=i))
+ assert g.size == 4
+
+ def test_prune_removes_stale_identities(self):
+ g = ReidGallery(match_threshold=0.75, max_age_s=0.01)
+ g.match(_unit(seed=0))
+ time.sleep(0.05)
+ g._prune()
+ assert g.size == 0
+
+ def test_empty_gallery_prune_is_safe(self):
+ g = ReidGallery()
+ g._prune()
+ assert g.size == 0
+
+ def test_match_below_threshold_increments_id(self):
+ g = ReidGallery(match_threshold=0.99)
+ # Two random unit vectors are almost certainly < 0.99 similar
+ e1, e2 = _unit(seed=10), _unit(seed=20)
+ uid1, _, _ = g.match(e1)
+ uid2, _, _ = g.match(e2)
+ # uid2 may or may not equal uid1 depending on random similarity,
+ # but both must be valid positive integers
+ assert uid1 >= 1
+ assert uid2 >= 1
+
+ def test_identity_update_does_not_change_id(self):
+ g = ReidGallery(match_threshold=0.5)
+ emb = _unit(seed=5)
+ uid_first, _, _ = g.match(emb)
+ for _ in range(10):
+ g.match(emb)
+ uid_last, _, _ = g.match(emb)
+ assert uid_last == uid_first
+
+
+if __name__ == '__main__':
+ pytest.main([__file__, '-v'])
diff --git a/jetson/ros2_ws/src/saltybot_person_reid_msgs/CMakeLists.txt b/jetson/ros2_ws/src/saltybot_person_reid_msgs/CMakeLists.txt
new file mode 100644
index 0000000..43210ac
--- /dev/null
+++ b/jetson/ros2_ws/src/saltybot_person_reid_msgs/CMakeLists.txt
@@ -0,0 +1,16 @@
+cmake_minimum_required(VERSION 3.8)
+project(saltybot_person_reid_msgs)
+
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(vision_msgs REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+ "msg/PersonAppearance.msg"
+ "msg/PersonAppearanceArray.msg"
+ DEPENDENCIES std_msgs vision_msgs
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+ament_package()
diff --git a/jetson/ros2_ws/src/saltybot_person_reid_msgs/msg/PersonAppearance.msg b/jetson/ros2_ws/src/saltybot_person_reid_msgs/msg/PersonAppearance.msg
new file mode 100644
index 0000000..4f03800
--- /dev/null
+++ b/jetson/ros2_ws/src/saltybot_person_reid_msgs/msg/PersonAppearance.msg
@@ -0,0 +1,7 @@
+std_msgs/Header header
+uint32 track_id
+float32[] embedding
+vision_msgs/BoundingBox2D bbox
+float32 confidence
+float32 match_score
+bool is_new_identity
diff --git a/jetson/ros2_ws/src/saltybot_person_reid_msgs/msg/PersonAppearanceArray.msg b/jetson/ros2_ws/src/saltybot_person_reid_msgs/msg/PersonAppearanceArray.msg
new file mode 100644
index 0000000..2f8055c
--- /dev/null
+++ b/jetson/ros2_ws/src/saltybot_person_reid_msgs/msg/PersonAppearanceArray.msg
@@ -0,0 +1,2 @@
+std_msgs/Header header
+PersonAppearance[] appearances
diff --git a/jetson/ros2_ws/src/saltybot_person_reid_msgs/package.xml b/jetson/ros2_ws/src/saltybot_person_reid_msgs/package.xml
new file mode 100644
index 0000000..8812636
--- /dev/null
+++ b/jetson/ros2_ws/src/saltybot_person_reid_msgs/package.xml
@@ -0,0 +1,22 @@
+
+
+
+ saltybot_person_reid_msgs
+ 0.1.0
+ Message types for person re-identification.
+ SaltyLab
+ MIT
+
+ ament_cmake
+ rosidl_default_generators
+
+ std_msgs
+ vision_msgs
+
+ rosidl_default_runtime
+ rosidl_interface_packages
+
+
+ ament_cmake
+
+