This package was made with the purpose of demonstrating use of the camera to find a wall and follow it at a certain distance. It gives alerts in the terminal according to distance that the camera is to the wall.
The treshold distance to the wall can be altered by changing the value of the variable treshold distance in line 46, this distance is defined in meters.
An action can also be defined for when the treshold distance is crossed.
Launch the package:
roslaunch wall_follower simple_wall_follower.launch