  We used ROS2 as a platform to conduct AI research for developing a Follow-Me
capability as a proof-of-concept on a wheeled robot, demonstrating that AI
research is possible in the ROS2 framework. We developed a complete system that
uses perception and navigation components based on a sensor suite of fisheye
cameras, lidar, and IMU running on an ARM64 Embedded Linux platform that runs
ROS2 natively. The perception package detects AR markers and/or IR beacons to
track a person. The tracker uses AI algorithms such as particle filters and
nonlinear optimization to extract the SE(3) information of the 2D feature.
