The package cliff_detector detects negative obstacles like a cliff or downstairs based on depth image. It is necessary to define height and tilt angle of depth sensor. It was tested with Microsoft Kinect v1 and v2 sensors.


The file /config/params.yaml constains example parameters values. To start node cliff_detector can be used a following file /launch/cliff_detector.launch .


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Wiki: cliff_detector (last edited 2016-04-18 16:31:07 by MichalDrwiega)