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cliff_detector

The cliff_detector package processes depth images to detect positive obstacles and drops (cliffs) such as stairs. It analyzes raw depth streams and publishes detected obstacle points for navigation safety.

Launch Files

Launch File Description
cliff_detector.launch.py Launches the cliff detector node with parameters from config/params.yaml

Nodes

cliff_detector (C++)

Analyzes incoming depth images block by block, comparing pixel depths against a ground model based on the sensor's mount height and tilt angle. Detects areas that differ significantly from the expected ground plane (e.g., stairs, cliffs, ledges).

ROS 2 API

Subscribed Topics

Topic Type Description
/camera/depth/image_raw sensor_msgs/msg/Image Raw depth image stream
/camera/depth/camera_info sensor_msgs/msg/CameraInfo Depth camera intrinsics (via image_transport)

Published Topics

Topic Type Description
points geometry_msgs/msg/PolygonStamped Extracted obstacle/cliff points
depth sensor_msgs/msg/Image Debug depth image with cliff overlay (if publish_depth is true)

Services

None

Parameters

Parameter Type Default Description
range_min double 0.5 Minimum range to consider (m)
range_max double 5.0 Maximum range to consider (m)
depth_img_row_step int 2 Row step for processing
depth_img_col_step int 2 Column step for processing
cam_model_update bool false Continuously update camera model
sensor_mount_height double 0.4 Sensor height from ground (m)
sensor_tilt_angle double 0.0 Sensor tilt (rad)
ground_margin double 0.05 Margin for ground classification (m)
block_size int 2 Block size for image processing
publish_depth bool false Enable debug depth image output
used_depth_height int 200 Depth image subregion height
block_points_thresh int 10 Min points in a block to flag obstacle

Lifecycle Information

This node is a standard rclcpp::Node — it does not implement the Lifecycle architecture.

Dependencies

  • Internal: (none)
  • External: rclcpp, sensor_msgs, image_geometry, image_transport, cv_bridge, geometry_msgs
  • Build type: ament_cmake