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Hi, Check if this (http://www.ros.org/wiki/openni/Contests/ROS%203D/Person%20Tracking%20and%20Reconstruction%20from%20a%20Mobile%20Base%20with%20a%207%20DOF%20Manipulator) is some help.

Thanks, Karthik

Hi, Check if this (http://www.ros.org/wiki/openni/Contests/ROS%203D/Person%20Tracking%20and%20Reconstruction%20from%20a%20Mobile%20Base%20with%20a%207%20DOF%20Manipulator) is some help.

Thanks, Karthik

I haven't come across anything like that in the ROS package myself. But i have seen tracking objects in PCL done as given in this you may use the above human detection towards this pcl work and make your own package. Before starting this you may check on the packages built by MIT students which predominantly involve on human interaction, which may directly help you.