The ROS component uses the URDF of the robot and the pose of an object to calculate and to publish the minimal distance between both components. These informations can be directly used to control the robotic behaviour.
Software requirements: Linux Platform: Ubuntu 14.0.4 with ROS Indigo, or Ubuntu 16.0.4 with ROS Kinetic
Hardware requirements: It is compatible with any vision system providing a point cloud.
Just for experimental usage (research). No warranty.