How to execute floor collision map demo in ucsb-ros-pkg

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Hi,

I'm the creator of that demo, so I should be able to help you out. I haven't uploaded the code to our public svn because it could do with a little updating to clean up the code, split off sections into functions, etc. It also doesn't compile under electric because it was developed under cturtle and I haven't updated it.

This demo was mostly created for me to learn PCL, so there are lots of ways to improve the code. For example, using kd trees instead of brute force collision detection, etc.

That said, here's the source code if you want to take a look.

-Brian

  //find_floor.cpp
//Author: Brian Satzinger (bsatzinger@gmail.com)
//Demonstration of automated floor finding & reorientation through
//planar segmentation, with a collision detection function.
//Publishes several ros topics with intermediate data for debugging
//and illustrative purposes.

/*
Copyright (c) 2011, Brian Satzinger
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
    * Redistributions of source code must retain the above copyright
      notice, this list of conditions and the following disclaimer.
    * Redistributions in binary form must reproduce the above copyright
      notice, this list of conditions and the following disclaimer in the
      documentation and/or other materials provided with the distribution.
    * Neither the name of the UCSB Robotics Lab nor the
      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/

//ROS Includes
#include <ros/ros.h>
#include <geometry_msgs/Polygon.h>
#include <geometry_msgs/Point32.h>

//RVIZ ROS API Includes
#include <visualization_msgs/Marker.h>
#include <visualization_msgs/MarkerArray.h>

//TF Includes
#include <tf/transform_broadcaster.h>

//PCL Includes
#include <pcl/ModelCoefficients.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/features/normal_3d.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/filters/passthrough.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/sample_consensus/method_types.h>
#include <pcl/sample_consensus/model_types.h>
#include <pcl/segmentation/sac_segmentation.h>
#include <pcl_visualization/pcl_visualizer.h>
#include <pcl/filters/project_inliers.h>
#include <pcl/surface/convex_hull.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl_tf/transforms.h>
#include <pcl_ros/subscriber.h>

//Other includes
#include <boost/thread/mutex.hpp>
#include <iostream>
#include <stdio.h>
#include <math.h>

using namespace std;

//Typedefs
typedef pcl::PointXYZRGB PointT;
typedef pcl ...