Launching Kinect on PR2 Gazebo to get same topics like openni_launch?

asked 2013-01-11 09:56:48 -0500

dbworth
1103 ●28 ●44 ●52

updated 2014-11-22 17:05:12 -0500

ngrennan
1 ●1 ●1

Hi all,

Information has been updated, but this documentation doesn't mention Gazebo:
http://ros.org/wiki/openni_camera
http://ros.org/wiki/openni_launch

To test a real OpenNI device, I can run:

$ roslaunch openni_launch openni.launch

which will produce all the topics listed below.

If you launch a PR2 or Turtlebot in Gazebo simulation, it only outputs the raw data. So there are no topics like:

/camera/rgb/image_color

What's the best way to launch image_proc & depth_image_proc nodelets?

Will this work?

$ roslaunch openni_launch openni.launch load_driver:=false depth_registration:=true

(I can't test anything at the moment)

Are there any plans to include this with the PR2 or Turtlebot simulators?
(turtlebot_bringup/launch/3dsensor.launch gave me some ideas, but I guess it's only for the real robot)

Thanks,
David.

Topics published from real OpenNI device:

/camera/depth/camera_info
/camera/depth/disparity
/camera/depth/image
/camera/depth/image/compressed
/camera/depth/image/compressed/parameter_descriptions
/camera/depth/image/compressed/parameter_updates
/camera/depth/image/compressedDepth
/camera/depth/image/compressedDepth/parameter_descriptions
/camera/depth/image/compressedDepth/parameter_updates
/camera/depth/image/theora
/camera/depth/image/theora/parameter_descriptions
/camera/depth/image/theora/parameter_updates
/camera/depth/image_raw
/camera/depth/image_raw/compressed
/camera/depth/image_raw/compressed/parameter_descriptions
/camera/depth/image_raw/compressed/parameter_updates
/camera/depth/image_raw/compressedDepth
/camera/depth/image_raw/compressedDepth/parameter_descriptions
/camera/depth/image_raw/compressedDepth/parameter_updates
/camera/depth/image_raw/theora
/camera/depth/image_raw/theora/parameter_descriptions
/camera/depth/image_raw/theora/parameter_updates
/camera/depth/image_rect
/camera/depth/image_rect/compressed
/camera/depth/image_rect/compressed/parameter_descriptions
/camera/depth/image_rect/compressed/parameter_updates
/camera/depth/image_rect/compressedDepth
/camera/depth/image_rect/compressedDepth/parameter_descriptions
/camera/depth/image_rect/compressedDepth/parameter_updates
/camera/depth/image_rect/theora
/camera/depth/image_rect/theora/parameter_descriptions
/camera/depth/image_rect/theora/parameter_updates
/camera/depth/image_rect_raw
/camera/depth/image_rect_raw/compressed
/camera/depth/image_rect_raw/compressed/parameter_descriptions
/camera/depth/image_rect_raw/compressed/parameter_updates
/camera/depth/image_rect_raw/compressedDepth
/camera/depth/image_rect_raw/compressedDepth/parameter_descriptions
/camera/depth/image_rect_raw/compressedDepth/parameter_updates
/camera/depth/image_rect_raw/theora
/camera/depth/image_rect_raw/theora/parameter_descriptions
/camera/depth/image_rect_raw/theora/parameter_updates
/camera/depth/points
/camera/depth/rectify_depth/parameter_descriptions
/camera/depth/rectify_depth/parameter_updates
/camera/depth_registered/camera_info
/camera/depth_registered/disparity
/camera/depth_registered/image
/camera/depth_registered/image/compressed
/camera/depth_registered/image/compressed/parameter_descriptions
/camera/depth_registered/image/compressed/parameter_updates
/camera/depth_registered/image/compressedDepth
/camera/depth_registered/image/compressedDepth/parameter_descriptions
/camera/depth_registered/image/compressedDepth/parameter_updates
/camera/depth_registered/image/theora
/camera/depth_registered/image/theora/parameter_descriptions
/camera/depth_registered/image/theora/parameter_updates
/camera/depth_registered/image_raw
/camera/depth_registered/image_raw/compressed
/camera/depth_registered/image_raw/compressed/parameter_descriptions
/camera/depth_registered/image_raw/compressed/parameter_updates
/camera/depth_registered/image_raw/compressedDepth
/camera/depth_registered/image_raw/compressedDepth/parameter_descriptions
/camera/depth_registered/image_raw/compressedDepth/parameter_updates
/camera/depth_registered/image_raw/theora
/camera/depth_registered/image_raw/theora/parameter_descriptions
/camera/depth_registered/image_raw/theora/parameter_updates
/camera/depth_registered/image_rect
/camera/depth_registered/image_rect/compressed
/camera/depth_registered/image_rect/compressed/parameter_descriptions
/camera/depth_registered/image_rect/compressed/parameter_updates
/camera/depth_registered/image_rect/compressedDepth
/camera/depth_registered/image_rect/compressedDepth/parameter_descriptions
/camera/depth_registered/image_rect/compressedDepth/parameter_updates
/camera/depth_registered/image_rect/theora
/camera/depth_registered/image_rect/theora/parameter_descriptions
/camera/depth_registered/image_rect/theora/parameter_updates
/camera/depth_registered/image_rect_raw
/camera/depth_registered/image_rect_raw/compressed
/camera/depth_registered/image_rect_raw/compressed/parameter_descriptions
/camera/depth_registered/image_rect_raw/compressed/parameter_updates
/camera/depth_registered/image_rect_raw/compressedDepth
/camera/depth_registered/image_rect_raw/compressedDepth ...

(more)

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answered 2013-01-11 20:00:01 -0500

jbinney
606 ●2 ●8 ●14

updated 2013-01-12 11:57:02 -0500

Almost; you'll also want to set the camera name argument to "head_mount_kinect", since that is what the pr2 typically uses:

roslaunch openni_launch openni.launch load_driver:=false depth_registration:=true camera:=head_mount_kinect

EDIT: That's if you're running the pr2 in gazebo. I'm not sure what camera name the turtlebot uses.

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Thanks @jbinney . I also had to make a copy of the launch file and add an argument to disable the two nodelets that generate PointClouds, because the Gazebo plugin generates the PointClouds directly.

dbworth ( 2013-01-15 11:34:36 -0500 )edit

hi, i am working towards the same thing but i want to use turtlebot so i am wondering what the camera name should be in this case?

ghanimmukhtar ( 2014-08-25 16:03:47 -0500 )edit

I am trying the same thing and getting rostopic echo camera/depth_registered/image_raw WARNING: no messages received and simulated time is active. Is /clock being published?

How to resolve this??

tiberium24 ( 2018-06-24 19:39:58 -0500 )edit

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answered 2015-02-23 16:57:13 -0500

Fred Ferreira
17 ●2 ●3 ●5

Hey Guys,

i have pr2 running in simulation with gazebo and I am trying to get /head_mount_kinect/rgb/image_color or /head_mount_kinect/depth/image using the command above roslaunch openni_launch openni.launch load_driver:=false depth_registration:=true camera:=head_mount_kinect

but that are no messages when I echo these topics (no messages received and simulated time is active).

Is there another way to get these data in simulated environment?

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Launching Kinect on PR2 Gazebo to get same topics like openni_launch?

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