This nodelet register to pointcloud messages and publishes a goal for the robot movement control to handle. The algorithm is such that the robot should advance as long as it sees there is where to advance. if an obstacle is detected, the robot will find the direction in which it is most likely not to have obstacle, and will continue there. If the robot is too close to an obstacle, it will reverse.
Intel® Euclid™ Community Site.
camera/depth/points (sensor_msgs/PointCloud2)
Registered XYZ point cloud.
Point Cloud
depth_follower/goal (geometry_msgs::PointStamped)
X,Y,Z goal of where to follow
depth_follower/marker (visualization_msgs::Marker)
X,Y,Z for rviz visualization
MinY(double, default: 0)
The minimum y position of the points in the box
MaxY(double, default: 20000)
The maximum y position of the points in the box
MinX(double, default: 0)
The minimum x position of the points in the box
MaxX(double, default: 20000)
The maximum x position of the points in the box
MinZ(double, default: 0)
The minimum z position of the points in the box
MaxZ(double, default: 20000)
The maximum z position of the points in the box
MinBlobSize(int, default: 4000)
Minimum number of points to consider as a blob
Enabled(bool, default: true)
Enable flag for the algorithm
The Intel® Euclid™ Wanderer sample is developed and distributed under a BSD-3 license as noted in License file.
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#Configuration:
| Version | Best Known |
|---|---|
| OS | Ubuntu 16.04 LTS |
| ROS | Kinetic |