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Only released in EOL distros:  

starmac_sensors: starmac_kinect

Package Summary

State estimation and obstacle detection using 3D sensor output. NOTE: Hasn't been maintained in awhile and would need some modifications to get working again. For this reason, building this package is suppressed with ROS_NOBUILD.



Node to do (partial) state estimation using data from a Kinect

Subscribed Topics

~input (sensor_msgs/PointCloud2) ~indices (pcl/PointIndices) ~model (pcl/ModelCoefficients) estimator/output (nav_msgs/Odometry)

Published Topics

~output (nav_msgs/Odometry) ~obstacle (starmac_kinect/Obstacle) ~debug (starmac_kinect/Debug) ~marker (visualization_msgs/Marker) ~mask_indices (pcl/PointIndices)


~use_backup_estimator_alt (bool, default: true) ~imu_to_kinect_offset (double, default: 0.08) ~max_est_kinect_delta_alt (double, default: 0.05) ~obstacle_height_threshold (double, default: 0.10) ~debug_throttle_rate (double, default: 0) ~z_vel_filt_a (double, default: 0.9) ~z_vel_filt_b (double, default: 0.1)

2020-01-25 13:12