Update README.md

README.md

@@ -7,20 +7,33 @@ For more information and installation instructions of the Ana packages go [here]
 
 # brief explanation of iri_3d_navigation packages
 
-* iri_lidar_filter
+* iri_nav_lidar_filter
 
 This package provides a node that takes a point cloud as an input and gives the same cloud but filtered as an output. The filter consists in removing some points between specific angles 
 where the laser beams of the sensor collide with own parts of the robot producing inexact measures. 
 
 
-* iri_hole_detector2
+* iri_nav_lidar_obstacles
 
 This package provides a node that takes a lidar point cloud as an input and gives a laser scan as an output that marks obstacles as walls, holes, too inclined slopes, etc.  
 
+* iri_nav_average_point_cloud
+
+
+
+* iri_nav_hole_detection
+
+This package takes a point cloud from a camera and detects holes on the floor by looking if the floor is missing on certain regions. If a hole is found, it outputs an obstacle point cloud.
+
+* iri_nav_obstacle_detection_normals
+
+This package takes a point cloud from a camera and detects obstacles by looking the normal of the plane that form each point with its neighbours.
+
 
 * iri_3d_nav
 
-This package provides several the launch files for launching the 3dnav nodes and navigation params.
+This package provides several launch files for launching the 3dnav nodes and navigation params.
+
 
 
 # How to install the packages