Run Navigation Stack with Maps from Kinect Fusion [closed]

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asked 2015-01-12 06:27:44 -0500

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hello everyone,

i am a really newbie to the ROS system therefore if my question ist stupid or inapropriate please be kindly patient.

I have one Robot (er1) with Kinect as Sensor running under ROS and a Server with Kinect Fusion, which can generate maps. My Question is, is it possible to use Navigation Stack with the maps generated by KinFu? The Tutorial says that Navigation Stack needs either LaserScan or PointCloud as the source for sensor information, but for me its not easy to convert datas from Kinect to LaserScan and PointCloud (and because of performance reasons).

Thanks for answers in advice.

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Closed for the following reason the question is answered, right answer was accepted by kido
close date 2015-02-05 06:52:34.963273

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What is the output from the KinFu?

David Lu ( 2015-01-12 21:04:47 -0500 )edit

Hi David Lu, Voxelgrid. Kinfu uses the information from the depth-images generated by Kinect and then reconstruct them to voxelgrid. Sry that i didn't see your comment until today.

kido ( 2015-01-15 09:18:55 -0500 )edit

Is that a specific ROS message?

David Lu ( 2015-01-15 10:26:59 -0500 )edit

Hi David,maps are with datatype nav_msgs::OccupancyGrid, 10241024 Pixels (5 meter 5meter) You can see a Screenshot here, thx.

kido ( 2015-01-16 08:56:22 -0500 )edit

Hi! I am also interested in using kinfu for 3D mapping and robot navigation. Please, could you provide some tips on how to integrate kinfu with ROS nav stack? Did you use KinfuLS-ROS-Wrapper from here? Thanks!

Dox ( 2018-04-04 07:25:40 -0500 )edit

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Thanks David, i'll take a try then make feedbacks here.

kido ( 2015-01-20 06:06:00 -0500 )edit

Ok. Best of luck. Please hit the checkmark to close the question when you can.

David Lu ( 2015-01-20 09:35:13 -0500 )edit

Thanks again to David. I tried and it works after setting the TF correctly. Neither Laserscan nor PointCloud are sufficient when i use the maps from KinFu as the Source for mapserver.

kido ( 2015-02-05 06:51:54 -0500 )edit

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Run Navigation Stack with Maps from Kinect Fusion [closed]

Closed for the following reason the question is answered, right answer was accepted by kido
close date 2015-02-05 06:52:34.963273

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Run Navigation Stack with Maps from Kinect Fusion [closed] edit

Closed for the following reason the question is answered, right answer was accepted by kido close date 2015-02-05 06:52:34.963273

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Run Navigation Stack with Maps from Kinect Fusion [closed]

Closed for the following reason the question is answered, right answer was accepted by kido
close date 2015-02-05 06:52:34.963273