Navigation stack P3DX pointCloud

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Hello,

I am doing the Navigation Stack Tutorial : http://wiki.ros.org/navigation/Tutori... I am using RosAria and sensor_msgs/PointCloud. I don't have a laser on this robot.

Part 2.1 Create package

catkin_create_pkg my_robot_name_2dnav move_base my_tf_configuration_dep my_odom_configuration_dep my_sensor_configuration_dep

The only package I use to control my p3dx is RosAria so I don't know how to replace tf, odom and sensor packages in this line.

Part 2.2 creating a robot configuration launch file :

<launch>
  <node pkg="sensor_node_pkg" type="sensor_node_type" name="sensor_node_name" output="screen">
    <param name="sensor_param" value="param_value" />

In this section, we'll bring up any sensors that the robot will use for navigation. Replace "sensor_node_pkg" with the name of the package for the ROS driver for your sensor, "sensor_node_type" with the type of the driver for your sensor, "sensor_node_name" with the desired name for your sensor node, and "sensor_param" with any parameters that your node might take.

I don't have a package for the ROS driver for my sensor. Again, I don't have packages for my sensors, so I don't know how to replace what it tells to replace.

Many thanks