1. roscore
2. roslaunch realsense_camera r200_nodelet_rgbd.launch
3. rosrun tf static_transform_publisher 0.0 0.0 0.0 0.0 0.0 0.0 \map \camera_link 100
4. roslaunch depthimage_to_laserscan launchfile_sample.launch
5. rviz
6. rosrun obstacle-avoidance accuracy (or) rosrun obstacle-avoidance precision