Hi all,

I am working with the PR2 and the Kinect to try to do rgbdslam programs. The problem I am having and I don't any discussion, what does this topic do (provided by the PR2): /headmountkinect/depth_registered/points

From what I thought is that this topic (which is a sensor_msgs::PointCloud2) is registered with the RGB Image from the PR2's Kinect. From what I see is that it is not registered at all. As such the point cloud I get is unorganized (height = 1) and not what I expect (height = 480).

How do I use this topic then? How can I register this point cloud to the RGB image?

As a side note: I don't want to use the Depth-Map because I'm working with the PR2 in GAZEBO, and not a real PR2. Gazebo doesn't have a true Depth Map, so I am forced to work with the Point Cloud directly.

Thanks