ROS Package for Robot Work Cell Discovery

This proposal aims to create a ROS package which will allow any arbitrary robotic manipulator to intelligently explore and map it’s work cell environment by utilizing a 3-D sensor based perception pipeline. This will provide a smart alternative to the current method where the work cell environment is defined using manually created URDF models. The 3-D model of the environment provided as an output can be utilized by packages such as MoveIt! for path planning and collision detection for the specific task at hand.