Only released in EOL distros:   electric fuerte groovy

Nodes

ClearpathDemoExplore

ClearpathDemoExplore is a ROS node that reads a frame from the Kinect PointCloud and generates a motion output that drives it towards empty space.

Subscribed Topics

idfloor_in(~in) (sensor_msgs/PointCloud2)

• Get the Kinect Point cloud as a pcl::PointCloud<pcl::PointXYZRGB>.

Published Topics

idfloor_out(~out) (sensor_msgs/PointCloud2)

• A pcl::PointCloud<pcl::PointXYZRGB> that can be used for visualization.

idfloor_out_vel(~out_vel) (geometry_msgs/Twist)

• Publish the commanded velocity.

Parameters

~in (string, default: "idfloor_in")

• Name of the topic your XYZRGB Point Cloud is on.

~out (string, default: "idfloor_out")

• Name of the topic your display XYZRGB Point Cloud is put out on.

~out_vel (string, default: "idfloor_out_vel")

• Name of the topic your cmd_vel should go out on.

~angular_vel_correction (double, default: 1.0)

• A gain applied to the commanded angular velocity during turns.

~lin_speed (double, default: 0.3)

• The linear speed in m/s the robot should move during operation.

~ang_speed (double, default: 0.3)

• The angular speed that the robot should moving during turns, rad/s.

~cam_height (double, default: 0.55)

• The height of the Kinect from the ground

~cam_z_trans (double, default: 0.0)

• Displacement of the camera from the center of the robot.

~wall_buffer (double, default: 0.6)

• Amount of "buffer" to add to obstacles (treating the robot as a point)

~publish_visualization (int, default: 1)

• A flag to turn on/off visualization publishing on the 'out' channel

ClearpathDemoTrack

ClearpathDemoTrack is a ROS node that reads a frame from the Kinect PointCloud and generates a motion output that drives it towards a tracked object (person).

Subscribed Topics

idfloor_in(~in) (sensor_msgs/PointCloud2)

• Get the Kinect Point cloud as a pcl::PointCloud<pcl::PointXYZRGB>.

Published Topics

idfloor_out(~out) (sensor_msgs/PointCloud2)

• A pcl::PointCloud<pcl::PointXYZRGB> that can be used for visualization.

idfloor_out_vel(~out_vel) (geometry_msgs/Twist)

• Publish the commanded velocity.

Parameters

~in (string, default: "idfloor_in")

• Name of the topic your XYZRGB Point Cloud is on.

~out (string, default: "idfloor_out")

• Name of the topic your display XYZRGB Point Cloud is put out on.

~out_vel (string, default: "idfloor_out_vel")

• Name of the topic your cmd_vel should go out on.

~angular_vel_correction (double, default: 1.0)

• A gain applied to the commanded angular velocity during turns.

~lin_speed (double, default: 0.3)

• The linear speed in m/s the robot should move during operation.

~ang_speed (double, default: 0.3)

• The angular speed that the robot should moving during turns, rad/s.

~cam_height (double, default: 0.55)

• The height of the Kinect from the ground

~cam_z_trans (double, default: 0.0)

• Displacement of the camera from the center of the robot.

~window_size (double, default: 0.5)

• Distance in meters that is searched from the previous object location.

~publish_visualization (int, default: 1)

• A flag to turn on/off visualization publishing on the 'out' channel