ros-pkg: Navigation: fixed local costmap point cloud observation source, independent of Z value. Added data_player node to replay stuff saved in RTAB-Map databases (like a rosbag but for rtabmap.db).

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1945 f169173b-cf89-36c8-b27e-44dbe73f0c83

launch/azimut3/az3_mapping_robot_stereo_nav.launch

@@ -99,7 +99,7 @@
 		</node>
 		<node pkg="nodelet" type="nodelet" name="obstacles_detection" args="load rtabmap/obstacles_detection stereo_nodelet">
     			<remap from="cloud" to="cloudXYZ"/>
-			<remap from="obstacles_2d" to="/planner_cloud"/>
+			<remap from="obstacles" to="/planner_cloud"/>
 
 			<param name="frame_id" type="string" value="base_footprint"/>
 			<param name="map_frame_id" type="string" value="map"/>

launch/config/azimut3/costmap_common_params.yaml

@@ -16,13 +16,16 @@ laser_scan_sensor: {
   marking: true, 
   clearing: true}
 
+# assuming receiving a cloud from rtabmap/obstacles_detection node
 point_cloud_sensor: {
   sensor_frame: base_footprint,
   data_type: PointCloud2, 
   topic: openni_points, 
   expected_update_rate: 0.5, 
   marking: true, 
-  clearing: true}
+  clearing: true,
+  min_obstacle_height: -99999.0,
+  max_obstacle_height: 99999.0}
 
 controller_patience: 2.0