Overview

This package currently requires two sensors to be connected; a CH Robotics IMU on port "/dev/imu" and a Microsoft Kinect.

Launchfiles

• indoor_sensors.launch: Launches the IMU node and the Kinect nodelet. Requires a nodelet manager to be operational (not launched here).

• indoor_ekf.launch: To be launched along with indoor_sensors.launch. Launches a nodelet manager, a number of point cloud processing nodes (pointcloud_to_laserscan, for example), and an instance of robot_pose_ekf which has been configured to produce the data that the examples in the husky_navigation stack require. Note: The nodelet manager is launched here instead of in the indoor_sensors launchfile to allow for simulated Kinects to be used.