cr17_nodes obstacle_mapper

Takes in the obstacles and the current pose, and builds a map with the position of the obstacles, which it then publishes.

Input:

• obstacles found by the plane_detector (also called the obstacle detector). This input is the center of each obstacle, or perhaps, a couple of points in the center of the obstacle.
• The current pose

The current pose will be of the geometry_msgs/Pose message type.

The obstacles will be of the sensor_msgs/PointCloud2 message type.

The map will be of the nav_msgs/OccupancyGrid message type.