Vision based proximity monitoring

This component allows monitoring a volume around the robot and it computes the minimum distance between the robot and any obstacle inside the monitored volume. The distance information can then be used to reduce the robot speed or even to stop it.

Provided the URDF of the robot, the component publishes a ROS message in a topic with the minimum distance between the object and the robot.

It is possible to combine the information from several cameras to increase the monitored volume.

It includes a graphical system setup assistant to configure the system.