Added first version of node that looks up camera transform and mirros negative points towards camera
Got the transforms working
Detecting negative points
Added cliff points to move_base
Forgot to add the camera frame parameter
Added some comments and configurability
Fixed a potential bug where the subsampled pointclouds don't get the timestamp
Merge pull request #36 from nilsbore/cliff

This adds a cliff sensor to the 2d navigation stack with camera. Test.