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diff --git a/bayes_people_tracker/CHANGELOG.rst b/bayes_people_tracker/CHANGELOG.rst
@@ -0,0 +1,204 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package bayes_people_tracker
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+1.1.8 (2015-09-03)
+------------------
+
+1.1.6 (2015-06-24)
+------------------
+* 1.1.5
+* updated changelogs
+* 1.1.4
+* updated changelogs
+* Contributors: Jenkins
+
+1.1.5 (2015-05-22)
+------------------
+
+1.1.4 (2015-05-10)
+------------------
+
+1.1.3 (2015-04-10)
+------------------
+
+1.1.2 (2015-04-07)
+------------------
+
+1.1.1 (2015-04-03)
+------------------
+
+1.0.0 (2015-03-10)
+------------------
+* Nicer print
+* Adding ability to switch between Extended and Unscented Kalman Filter
+* Making simple_tracking template based.
+* Changed config file structure and made necessary changes to the code.
+* Adding pose, pose_array and people publishers to connection callback.
+* * Publishing a pose array for all detected people to have more generic output
+  * Added missing bayes tracker parameters to launch files and READMEs
+  * Starting the mdl tracker is now optional when using the robot launch file. `with_mdl_tracker=true` starts the mdl tracker in addition to the bayes tracker. Default is `false`
+* forgot (again) to change default detector.yaml in bayes_people_tracker
+* adding visualization to rviz via nav_msgs/Path
+* Contributors: Christian Dondrup, Ferdian Jovan
+
+0.1.4 (2015-03-06)
+------------------
+* Publishin people_msgs/People and adding orientation.
+* forgot to undo my config for detectors.yaml in bayes_people_tracker
+* provide online stitching poses into trajectories
+* add online trajectory construction from /people_tracker/positions
+* Contributors: Christian Dondrup, Ferdian Jovan
+
+0.1.3 (2015-02-25)
+------------------
+
+0.1.1 (2015-02-18)
+------------------
+
+0.1.0 (2015-02-18)
+------------------
+* Setting correct version number. The changelogs will be regenerated because the ones from the release branch would not be consistent with the changes made in the devel branch.
+* Small bug in ros_debug statment
+* Changed launch files to new format.
+* Changed launch files to new format.
+* Contributors: Christian Dondrup
+
+0.0.14 (2014-11-23)
+-------------------
+* Updating changelogs and adjusting version numbers
+* 0.0.12
+* Adjusting version number.
+* Updated changelogs
+* 0.0.3
+* Updated changelogs
+* 0.0.2
+* Updated changelog
+* 0.0.1
+* Created changelogs
+* Contributors: Christian Dondrup
+
+0.0.13 (2014-10-31 16:14)
+-------------------------
+* Updating changelogs and manually bumping version number.
+* 0.0.11
+* Updated changelogs
+* 0.0.10
+* Updating changelog
+* 0.0.9
+* Updated changelogs
+* 0.0.8
+* Updated changelogs
+* 0.0.7
+* Updated changelogs
+* 0.0.6
+* Updated changelogs
+* 0.0.5
+* Updated changelogs
+* 0.0.4
+* Updating changelogs
+* Removing the leg_detector from the run_dependencies of the launch package for indigo release.
+  leg_detector is not released for indigo yet.
+* 0.0.3
+* Updated changelogs
+* 0.0.2
+* Updated changelog
+* 0.0.1
+* Created changelogs
+* 0.0.11
+* Updated changelogs
+* 0.0.10
+* Updating changelog
+* 0.0.9
+* Updated changelogs
+* 0.0.8
+* Updated changelogs
+* 0.0.7
+* Updated changelogs
+* 0.0.6
+* Updated changelogs
+* 0.0.5
+* Updated changelogs
+* 0.0.4
+* Updating changelogs
+* Removing the leg_detector from the run_dependencies of the launch package for indigo release.
+  leg_detector is not released for indigo yet.
+* Contributors: Christian Dondrup
+
+0.0.12 (2014-10-31 16:07)
+-------------------------
+* Adjusting version number.
+* Updated changelogs
+* 0.0.3
+* Updated changelogs
+* 0.0.2
+* Updated changelog
+* 0.0.1
+* Created changelogs
+* Added proper link to paper describing bayes_tracker
+* Contributors: Christian Dondrup
+
+0.0.11 (2014-10-30 11:18)
+-------------------------
+* Updated changelogs
+* Contributors: Christian Dondrup
+
+0.0.10 (2014-10-30 10:19)
+-------------------------
+* Updating changelog
+* Contributors: Christian Dondrup
+
+0.0.9 (2014-10-30 09:52)
+------------------------
+* Updated changelogs
+* Contributors: Christian Dondrup
+
+0.0.8 (2014-10-30 09:32)
+------------------------
+* Updated changelogs
+* Contributors: Christian Dondrup
+
+0.0.7 (2014-10-29 20:40)
+------------------------
+* Updated changelogs
+* Contributors: Christian Dondrup
+
+0.0.6 (2014-10-29 20:32)
+------------------------
+* Updated changelogs
+* Contributors: Christian Dondrup
+
+0.0.5 (2014-10-29 18:30)
+------------------------
+* Updated changelogs
+* Contributors: Christian Dondrup
+
+0.0.4 (2014-10-29 18:22)
+------------------------
+* Updating changelogs
+* Removing the leg_detector from the run_dependencies of the launch package for indigo release.
+  leg_detector is not released for indigo yet.
+* Contributors: Christian Dondrup
+
+0.0.3 (2014-10-23)
+------------------
+* Updated changelogs
+* Added LICENSE files. Fixes `#101 <https://github.com/strands-project/strands_perception_people/issues/101>`_
+* Contributors: Christian Dondrup, Lucas Beyer
+
+0.0.2 (2014-10-18 17:39)
+------------------------
+* Updated changelog
+* Contributors: Christian Dondrup
+
+0.0.1 (2014-10-18 17:28)
+------------------------
+* Created changelogs
+* Renamed strands_pedestrian_tracking to mdl_people_tracker
+  This also includes renaming the messages and most of the parameters.
+* Forgot to install the config dir.
+* Fixed missing things
+* Prepared bayes_people_tracker for release.
+* Splitting utils package into seperate packages.
+* Renamed strands_people_tracker to bayes_people_tracker
+* Contributors: Christian Dondrup
diff --git a/bayes_people_tracker/CMakeLists.txt b/bayes_people_tracker/CMakeLists.txt
@@ -0,0 +1,85 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(bayes_people_tracker)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+    bayes_tracking
+    geometry_msgs
+    message_generation
+    people_msgs
+    roscpp
+    std_msgs
+    tf
+    visualization_msgs
+)
+find_package(Boost REQUIRED COMPONENTS thread)
+
+#######################################
+## Declare ROS messages and services ##
+#######################################
+
+add_message_files(
+  FILES
+  PeopleTracker.msg
+)
+
+generate_messages(
+  DEPENDENCIES
+  std_msgs
+  geometry_msgs
+)
+
+###################################
+## catkin specific configuration ##
+###################################
+catkin_package(
+  INCLUDE_DIRS include
+  CATKIN_DEPENDS bayes_tracking geometry_msgs roscpp std_msgs tf visualization_msgs
+)
+
+###########
+## Build ##
+###########
+
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+  ${Boost_INCLUDE_DIRS}
+)
+
+add_executable(bayes_people_tracker
+  src/people_tracker/people_tracker.cpp
+)
+
+add_dependencies(bayes_people_tracker ${PROJECT_NAME}_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+
+target_link_libraries(bayes_people_tracker
+  ${catkin_LIBRARIES}
+  ${Boost_LIBRARIES}
+)
+
+#############
+## Install ##
+#############
+
+install(TARGETS bayes_people_tracker
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h"
+  PATTERN ".git" EXCLUDE
+)
+
+install(DIRECTORY launch
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+install(DIRECTORY config
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
diff --git a/bayes_people_tracker/LICENSE b/bayes_people_tracker/LICENSE
@@ -0,0 +1,20 @@
+The MIT License (MIT)
+
+Copyright (c) 2014 Christian Dondrup
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of
+this software and associated documentation files (the "Software"), to deal in
+the Software without restriction, including without limitation the rights to
+use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+the Software, and to permit persons to whom the Software is furnished to do so,
+subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
diff --git a/bayes_people_tracker/README.md b/bayes_people_tracker/README.md
@@ -0,0 +1,87 @@
+## People Tracker
+This package uses the bayes_tracking library developed by Nicola Bellotto (University of Lincoln), please cite with: [10.5281/zenodo.15825](https://zenodo.org/record/15825) and [1]
+
+The people_tracker uses a single config file to add an arbitrary amount of detectors. The file `config/detectors.yaml` contains the necessary information for the upper_body_detector and the ROS leg_detector (see `to_pose_array` in detector_msg_to_pose_array/README.md):
+
+```
+bayes_people_tracker:
+    filter_type: "UKF"                                         # The Kalman filter type: EKF = Extended Kalman Filter, UKF = Uncented Kalman Filter
+    cv_noise_params:                                           # The noise for the constant velocity prediction model
+        x: 1.4
+        y: 1.4
+    detectors:                                                 # Add detectors under this namespace
+        upper_body_detector:                                   # Name of detector (used internally to identify them). Has to be unique.
+            topic: "/upper_body_detector/bounding_box_centres" # The topic on which the geometry_msgs/PoseArray is published
+            cartesian_noise_params:                            # The noise for the cartesian observation model
+                x: 0.5
+                y: 0.5
+            matching_algorithm: "NNJPDA"                       # The algorthim to match different detections. NN = Nearest Neighbour, NNJPDA = NN Joint Probability Data Association
+        leg_detector:                                          # Name of detector (used internally to identify them). Has to be unique.
+            topic: "/to_pose_array/leg_detector"               # The topic on which the geometry_msgs/PoseArray is published
+            cartesian_noise_params:                            # The noise for the cartesian observation model
+                x: 0.2
+                y: 0.2
+            matching_algorithm: "NNJPDA"                       # The algorthim to match different detections. NN = Nearest Neighbour, NNJPDA = NN Joint Probability Data Association
+```
+
+New detectors are added under the parameter namespace `bayes_people_tracker/detectors`. Let's have a look at the upper body detector as an example:
+
+### Tracker Parameters
+
+The tracker offers two configuration parameters:
+* `filter_type`: This specefies which variant of the Kalman filter to use. Currently, it implements an Extended and an Unscented Kalman filter which can be chosen via `EKF` and `UKF`, respectively.
+* `cv_noise_params`: parameter is used for the constant velocity prediction model.
+ * specifies the standard deviation of the x and y velocity.
+
+### Detector Parameters
+
+* For every detector you have to create a new namespace where the name is used as an internal identifier for this detector. Therefore it has to be unique. In this case it is `upper_body_detector`
+* The `topic` parameter specifies the topic under which the detections are published. The type has to be `geometry_msgs/PoseArray`. See `to_pose_array` in detector_msg_to_pose_array/README.md if your detector does not publish a PoseArray.
+* The `cartesian_noise_params` parameter is used for the Cartesian observation model.
+ * specifies the standard deviation of x and y.
+* `matching_algorithm` specifies the algorithm used to match detections from different sensors/detectors. Currently there are two different algorithms which are based on the Mahalanobis distance of the detections (default being NNJPDA if parameter is misspelled):
+ * NN: Nearest Neighbour
+ * NNJPDA: Nearest Neighbour Joint Probability Data Association
+
+All of these are just normal ROS parameters and can be either specified by the parameter server or using the yaml file in the provided launch file.
+
+### Message Type:
+
+The tracker publishes the following:
+* `pose`: A `geometry_msgs/PoseStamped` for the clostes person.
+* `pose_array`: A `geometry_msgs/PoseArray` for all detections.
+* `people`: A `people_msgs/People` for all detections. Can be used for layerd costmaps.
+* `marker_array`: A `visualization_msgs/MarkerArray` showing little stick figures for every detection. Figures are orient according to the direction of velocity.
+* `positions`: A `bayes_people_tracker/PeopleTracker` message. See below. 
+
+```
+std_msgs/Header header
+string[] uuids             # Unique uuid5 (NAMESPACE_DNS) person id as string. Id is based on system time on start-up and tracker id. Array index matches ids array index
+geometry_msgs/Pose[] poses # The real world poses of the detected people in the given target frame. Default: /map. Array index matches ids/uuids array index
+float64[] distances        # The distances of the detected persons to the robot (polar coordinates). Array index matches ids array index.
+float64[] angles           # Angles of the detected persons to the coordinate frames z axis (polar coordinates). Array index matches ids array index.
+float64 min_distance       # The minimal distance in the distances array.
+float64 min_distance_angle # The angle according to the minimal distance.
+```
+
+The poses will be published in a given `target_frame` (see below) but the distances and angles will always be relative to the robot in the `/base_link` tf frame.
+
+### Running
+Parameters:
+
+* `target_frame`: _Default: /base_link_:the tf frame in which the tracked poses will be published. 
+* `position`: _Default: /people_tracker/positions_: The topic under which the results are published as bayes_people_tracker/PeopleTracker`
+* `pose`: _Default: /people_tracker/pose_: The topic under which the closest detected person is published as a geometry_msgs/PoseStamped`
+* `pose_array`: _Default: /people_tracker/pose_array_: The topic under which the detections are published as a geometry_msgs/PoseArray`
+* `poeple`: _Default: /people_tracker/people_: The topic under which the results are published as people_msgs/People`
+* `marker`: _Default /people_tracker/marker_array_: A visualisation marker array.
+
+You can run the node with:
+
+```
+roslaunch bayes_people_tracker people_tracker.launch
+```
+
+This is the recommended way of launching it since this will also read the config file and set the right parameters for the detectors.
+
+[1] N. Bellotto and H. Hu, “Computationally efficient solutions for tracking people with a mobile robot: an experimental evaluation of bayesian filters,” Autonomous Robots, vol. 28, no. 4, pp. 425–438, 2010.