Description und dependencies update.

Author: mdrwiega

LICENSE

@@ -25,4 +25,3 @@
  * 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.
-

README.md

@@ -2,14 +2,23 @@
 Set of tools for mobile robot navigation with depth sensor, for example 
 Microsoft Kinect.
 
-Actually depth_nav_tools contains only package laserscan_kinect which converts
-depth image to laser scan (LaserScan). It allows to use Microsoft Kinect sensor
-for navigation purposes. Package laserscan_kinect finds smallest value of
-distance in each column of depth image and converts it to polar coordinates.
+Package depth_nav_tools contains following packages:
+- laserscan_kinect -- converts depth image to laser scan (LaserScan). 
+It finds smallest value of distance in each column of depth image 
+and converts it to polar coordinates. Moreover, package provides features 
+like ground removing from scan and sensor tilt compensation in distance values, 
+but it is necessary to know height of sensor optical center and tilt angle in frame of ground.
+
+- depth_sensor_pose -- detects ground plane on depth image and estimate 
+                       height and tilt angle of depth sensor.
+
+- cliff_detector -- detects negative objects like a cliff or downstairs.
+
+- nav_layer_from_points -- creates navigation costmap layer based on received
+                           points.
+- depth_nav_msgs -- specific messages for other packages.
+
 
-Moreover, package provides features like ground removing from scan and sensor
-tilt compensation in distance values, but it is necessary to know height of
-sensor optical center and tilt angle in frame of ground.
 
 ## ROS Documentation 
 A more detailed, standard ROS-style documentation of this package can be found on the ROS wiki at:

depth_sensor_pose/CMakeLists.txt

@@ -6,7 +6,7 @@ set(CMAKE_BUILD_TYPE Release)
 
 find_package(catkin REQUIRED COMPONENTS
   roscpp image_geometry image_transport
-  nodelet dynamic_reconfigure sensor_msgs pcl_ros cmake_modules
+  nodelet dynamic_reconfigure sensor_msgs pcl_ros cmake_modules costmap_2d
 )
 
 # Dynamic reconfigure config
@@ -15,6 +15,7 @@ generate_dynamic_reconfigure_options( cfg/DepthSensorPose.cfg )
 find_package( PCL REQUIRED )
 find_package( Eigen REQUIRED )
 
+
 catkin_package(
   INCLUDE_DIRS include
   LIBRARIES DepthSensorPose DepthSensorPoseNode DepthSensorPoseNodelet

depth_sensor_pose/package.xml

@@ -9,6 +9,8 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
+  <depend>cmake_modules</depend>
+  <depend>costmap_2d</depend>
   <depend>roscpp</depend>
   <depend>nodelet</depend>
   <depend>dynamic_reconfigure</depend>