How to get depthimage_to_laserscan working?
Hi !
When I launch opennilaunch and depthimageto_laserscan, the topic /scan is actually being published but nothing happens in Rviz when I had a laserscan display and set it to /scan.
I have no idea what to check, I just installed the package and wrote the navigation stack config: in movebase.launch: node name="depthimagetolaserscan" pkg="depthimagetolaserscan" type="depthimageto_laserscan"
in costmapcommonparams:
observation_sources: laser_scan_sensor
laser_scan_sensor: {sensor_frame: camera_depth_optical_frame, data_type: LaserScan, topic: /scan, marking: true, clearing: true}
How can I check if depthimageto_laserscan is feeding the /scan topic?
Asked by Pandaii on 2015-10-16 11:36:29 UTC
Answers
Ok, rqt->nodes showed me that depthimage_to_laserscan wasn't subscribing to any topic. The solution is to remap the topic it subscribes to.
<node name="depthimage_to_laserscan" pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" >
<remap from="image" to="/camera/depth/image_raw"/>
</node>
Asked by Pandaii on 2015-10-16 16:28:36 UTC
Comments
rqt->node graph and rostopic echo /scan --noarr should help.
Asked by Humpelstilzchen on 2015-10-16 12:49:48 UTC
You can use http://wiki.ros.org/rostopic to see if data is coming out of
/scan.Asked by William on 2015-10-16 12:50:35 UTC