What camera topic should be given to the navigation stack?
Hello !!
I want to use an Asus Xtion with openni2launch. But I can't figure out which topic I should give in the navigation stack. I tried the following code lines in costmapcommon_params.yaml:
observation_sources: point_cloud_sensor
point_cloud_sensor: {sensor_frame: camera_depth_optical_frame, data_type: PointCloud2, topic: /camera/depth_registered/points, marking: true, clearing: true}
observation_sources: point_cloud_sensor
point_cloud_sensor: {sensor_frame: camera_depth_optical_frame, data_type: PointCloud2, topic: /camera/depth/points, marking: true, clearing: true}
observation_sources: laser_scan_sensor
laser_scan_sensor: {sensor_frame: laser, data_type: LaserScan, topic: /scan, marking: true, clearing: true}
With each of these 3 parameters, I don't get any obstacle topic to subscribe to in rviz.
Asked by Pandaii on 2015-10-05 10:59:55 UTC
Answers
You have to convert your depth image to either laserscan or pointcloud first, using a node like e.g. depthimage_to_laserscan.
Asked by Humpelstilzchen on 2015-10-06 02:08:54 UTC
Comments
Thanks, I never heard about that in the tutorials before. I thought that /camera/depth/points was a usable pointcloud2 topic.
Asked by Pandaii on 2015-10-06 11:12:04 UTC
How did you convert camera topic using depthimage_to_laserscan ?
Asked by ga on 2023-05-31 23:51:17 UTC
can you pls tell the procedure ?
Asked by ga on 2023-05-31 23:51:48 UTC
Comments
what are you using in your launch files?
Asked by jessiems10 on 2015-10-05 14:56:19 UTC