Thanks David! I will take a look at it. Piyush On Tue, Sep 27, 2011 at 8:08 AM, David Feil-Seifer wrote: > Piyush- > > I have a stack, OIT, out of the usc-ros-pkgs repository which does > exactly this. By detecting a target from an overhead camera, and > utilizing an intrinsic calibration of the camera, an extrinsic > calibration of the camera to the ground, and a line map of the > environment (human generated), we are able to do exactly what you are > saying. > > Documentation is rough currently, however. I am defending on Oct 19th > and then I'm moving, so I won't be able to provide much direct support > until after that. > > Try checking out the OIT at: > > https://usc-ros-pkg.svn.sourceforge.net/svnroot/usc-ros-pkg/trunk/OIT > > There are some launch files in the oit_launch package, and the code > should all compile against diamondback (electric not yet tested, but > should work). > > Good luck, and feel free to email me if you have problems, just > understand if I don't respond right away. > > -Dave > > On Mon, Sep 26, 2011 at 11:21 PM, Piyush Khandelwal > wrote: >> Hello, >> >> I have the following setup >>  1) A differential drive robot >>  2) Overhead localization from an external system. >>  3) A static occupancy grid of the world (or some other >> representation for the location of walls and obstacles) - any dynamic >> obstacles are currently ignored. >> >> I would like to use the ROS Navigation Stack for autonomously >> navigating the robot around my lab, but the lack of a laser scanner >> currently prohibits me from doing so. I can replace amcl with the >> information provided by the overhead localization fairly simply, but >> nav_core is highly dependent on the laser scan. Are there any options? >> I can potentially publish the LaserScan message from the static map, >> but I am not sure if this is the correct approach. >> >> Thanks! >> Piyush >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users >> > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users >