I tried turtlebotfollower app with kinectv2. I checked turtlebotfollower source code follow.cpp, and I found the turtlebotfollow node subscribe a topic "depth/imagerect" which type is sensormsgs::Image. I checked rosparam list, and I found that the topic "depth/imagerect" which type is sensor_msgs::Image is published from kinect2 node.

I don't know why turtlebotfollower node doesn't receive topic "depth/imagerect"... If you have some idea, could you help me? My environment is following.

OS : Ubuntu16.04 ROS : Kinetic Camera : Kinectv2 Robot : Turtlebot2(kobuki)

I typed following commands before launching turtlebot_follower.

• roslaunch turtlebot_bringup minimal.launch
• roslaunch kinect2bridge kinect2bridge.launch publish_tf:=true
• rosrun depthimagetolaserscan depthimagetolaserscan image:=/kinect2/sd/imagedepthrect outputframeid:=/basekinect2_link
• roslaunch turtlebot_follower follower.launch

rqtgraph which is drawn after launching turtlebotfollwer is here.