About | Support | answers.ros.org	Search:

tuc_pelican: kinect_utils

Package Summary

This packages contains a node that processes the 3D point cloud provided by the kinect sensor to identify walls, obstacles, and the position and orientation of the sensor inside a corridor. The node generates a trajectory to navigate down the corridor.

• Author: Niko Suenderhauf, Peer Neubert
• License: BSD
• Repository: tuc-ros-pkg
• Source: svn https://borstel.etit.tu-chemnitz.de:8080/svn/tuc-ros-pkg/trunk/stacks/tuc_pelican/kinect_utils

corridor_extraction

This node generates flight commands based on the sensor data provided by the Kinect sensor to navigate a UAV down a corridor.

Subscribed Topics

/camera/depth/image_raw (sensor_msgs/Image)

• The depth image provided by the Kinect sensor.

/camera/depth/points2 (sensor_msgs/PointCloud2)

• The 3D point cloud provided by the Kinect sensor.

Published Topics

/kinectPose (kinect_utils/kinectPose)

• The estimated position and orientation of the Kinect sensor within the corridor.

/flightCommand (kinect_utils/flightCommand)

• The calculated motion vector ([dx, dy, dz, dyaw]). The raw vector ([dx_raw, dy_raw, dz_raw, dyaw_raw]) does not consider any obstacles.

/wall_marker (visualization_msgs/Marker)

• The marker of the estimated walls for visualization with rviz.

/flightCommand_marker (visualization_msgs/Marker)

• The marker of the motion vector for visualization with rviz.

/unmatchedPoints (sensor_msgs/PointCloud2)

• Points which are not contained in one of the wall planes and thus may be part of possible obstacles.