The SMACC client, in order to be worthwhile, needs to take the data, and make a decision about it, or it doesn’t belong as a client.
This is more vision related, so that you can count, detect points, etc.
And then make them the next Navigation or MoveIt goals…
3D Navigation Use Case
Point cloud source, need to generate a path
get point clound, try to get normals of the surfaces, get the vectors, compare to the gravity vector, discard any points that can’t be navigated
In navigation, use point clouds, and octomaps, try to handle the slopes.
Main problem is that of rough terrain.
Need is to take visual information, and turn it into path information. As flat as you can go…