Discription of the task:
Making a ROS Node which takes in PointCloud2 data, applies ground plane elimination and segmentation, and publishes it on another topic.
Description of the ROS Nodes, Topics and Messages used: a single node which converts the ROS Message type to a PCL message and processes the data is used. Topics used are the data in which the kinect of the rover publishes data and also the adverticed topic "/pcl_pointcloud". Message type published is of type 'sensor_msgs::PointCloud2'
RQT Graph:
Rviz Visualization of Clusters:
Picture of vizualised oobjects in simulation: