Wall following using RGBD camera

I want to make a robot move autonomously through an unknown environment and I have seen that the best approach is to move following a wall.

I have seen several examples using a laser scan, but I want to do it using an rgbd camera, which in fact provides a pointcloud2 of the enivronment captured.

Does any one know how to do this or if there is any example somewhere?

Thank you in advance!

Asked by marpeja on 2022-07-28 11:46:54 UTC

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Answers

Seems like you could do it by using depthimage_to_laserscan with your depth camera. This can publish a /scan that you could use much like a lidar (unless you consider this too similar to a laser scan?). I've used this on my turtlebot2 to do SLAM without using the lidar. Another issue would be that the depth camera is usually facing forward so you'd need to be creative about how you detect a wall to the left or right.

Asked by wheagy on 2022-07-28 12:09:23 UTC