About | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange

Only released in EOL distros:   fuerte

Nodes

kinect_estimation

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

Parameters

~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.