Basic obstacle detection tutorials using Kinect

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Hey,

My name is Kartik and being fairly new to kinect and ros, I was wondering if there were any obstacle detection samples using the kinect sensor that I could have a look at? I'm working with robots from clearpath robotics.

I'm trying to use the pointcloud2 data. I plan to follow the steps: 1) Write subscriber node to obtain data from the /camera/depth/points node 2) Process data to be able to detect obstacles based on change in depth values 3) Integrate that with some movement code to able to move/stop robot in the presence of obstacles.

Any help/guidance in this area will be much appreciated!

Thanks!