@@ -5,12 +5,14 @@ IRI package created to detect holes in navigation using a depth camera (usually
## Getting Started
The main idea is to create a 3D box in front of the robot where we want to check if there is any hole and divide this box in several cells (typically 3) in order to be able to specify at which specific region (just in front, at the left of the robot or at the right) there is a hole. After that, the number of points in each cell is counted and, if this number in any cell is less than a threshold, there is a hole in that cell. Otherwise, the terrain is either passable or an obstacle (it is necessary to use an obstacle detection algorithm to differenciate each case).
These instructions will get you a copy of the project up and running on your local machine for development and testing purposes.
### Prerequisites
This package is part of the *3d_navigation* project, so you need to install all the necessary packages in the project to see it both holes and other obstacles. If you are only interested in detecting holes, you can avoid installing the obstacle detection part.
More specifically, this hole detector works after using a filtering chain aplied to the original pointcloud generated by the camera. This means that you need the package *iri_3dnav* for launchers and the package *pcl* for voxel dodwnsampling.
In addition, for compilation, several packages are necessary: *iri_base_algorithm*, *sensor_msgs*, *pcl_ros*, and *iriutils*.
