This node subscribes to topic /output to get a filtered, obstalce only, point cloud and provides a service that that checks if a given point is in collision with the point cloud.
The point cloud is transformed to frame odom, so the waypoints tested must be in the frame.
To run the node:
rosrun waypoint_checker waypoint_checker_node
A test/example code is provided. To run the test:
rosrun waypoint_checker test_service x y
where x and y must be replaced by the numerical values to be tested.