Point of interest publisher released

[fpetric]

Hi everyone,

the latest update has been pushed, it includes the publisher of the points of interest. C/P from the updated readme:

Point of interest are provided on the topic poi within the UAV namespace. The message contains an array of geometry_msgs/Point messages, containing x, y and z locations of a cylinder that contains a tile. The radius of each cylinder is 2.5 meters and the height of the cylinder is 5 meters.
One PoI cylinder is spawned for each of the tiles, and they may overlap and include more than one tile. The cylinder may also include obstacles.

As of now, the dimensions of the cylinder are 2.5m radius, 5m height. This may change, but we do not expect it to. We played around with random sizes of the cylinders, but decided against it for now.

Additional note, the way we generated the cylinder in the spawning script is not necessarily the way we will generate them for the evaluation so do not rely on the tile being exactly 2m from the center of the cylinder and so on.

Run, test, let us know what you think. As for the roadmap, in the next couple of days we will let you know how to report detection (which topic, what type of a message). We also aim to release a second arena for you to play around. We will also check how things work with more realistic textures in Gazebo.