Hello All,

           I am having a segmented  data (x,y,z) corresponding to the floor (indoor environment) in front of the robot from Swissranger SR-3000 sensor. I would like to know how can i use this data to plan a path from point A to B (Assuming both are on the same segment ) using Player. 

I am not sure in what way i should provide the data such that the player can plan a path accordingly. 

I am familiar with vfh, amcl, wavefront drivers and have written some basic codes in simulation (player-stage), but the simulations uses Sick-LMS laser scanner as the input sensor.
I would like to achieve similar results using the real data from SR-3000.

Your suggestions regarding the implementation steps would be highly regarded,