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)
  • Point cloud from sensor
~indices (pcl/PointIndices)
  • Indices of point cloud that are inliers of the planar model
~model (pcl/ModelCoefficients)
  • Coefficients of the planar model
estimator/output (nav_msgs/Odometry)
  • Backup estimation source (i.e. Vicon). Only subscribed if ~use_backup_estimator_alt parameter is set.

Published Topics

~output (nav_msgs/Odometry)
  • Output state estimate
~obstacle (starmac_kinect/Obstacle)
  • Detected obstacle information
~debug (starmac_kinect/Debug)
  • Testing/debugging information
~marker (visualization_msgs/Marker)
  • Visualization markers
~mask_indices (pcl/PointIndices)
  • Indices of full point cloud that the kinect node is requested to publish


~use_backup_estimator_alt (bool, default: true)
  • Whether to use a backup source of altitude state estimate (i.e. Vicon)
~imu_to_kinect_offset (double, default: 0.08)
  • Vertical distance in meters from IMU to Kinect (positive means Kinect is above IMU)
~max_est_kinect_delta_alt (double, default: 0.05)
  • Tolerance in meters on distance between Kinect-derived altitude and backup source of altitude data
~obstacle_height_threshold (double, default: 0.10)
  • Points more than this distance in meters above the ground plane will be considered potential obstacles
~debug_throttle_rate (double, default: 0)
  • For debugging purposes. Rate in Hz to limit the main callback by. Zero means to disable throttling.
~z_vel_filt_a (double, default: 0.9)
  • Altitude velocity determination filter parameter.
~z_vel_filt_b (double, default: 0.1)
  • Altitude velocity determination filter parameter.

Wiki: starmac_kinect (last edited 2011-02-10 18:59:35 by PatrickBouffard)