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.
