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Got it... or at least this is one workaround. You must specify depth_registration:=false when you launch 3dsensor.launch. I'm not sure what's wrong with the depth-registered image but this is actually the default if you look in openni.launch. Maybe the Kinect needs to be calibrated for this to work?

Once I turn off depth registration, depthimage_to_laserscan starts using camera/depth/image_raw instead, and I can see both the image and the laserscan. Now the IMU calibration _should_ work correctly.

Got it... or at least this is one workaround. You must specify depth_registration:=false when you launch 3dsensor.launch. I'm not sure what's wrong with the depth-registered image but this is actually the default if you look in openni.launch. Maybe the Kinect needs to be calibrated for this to work?

Once I turn off depth registration, depthimage_to_laserscan starts using camera/depth/image_raw instead, and I can see both the image and the laserscan. Now the IMU calibration _should_ should work correctly.

Got it... or at least this is one workaround. You must specify depth_registration:=false when you launch 3dsensor.launch. I'm not sure what's wrong with the depth-registered image but this is actually the default if you look in openni.launch. Maybe the Kinect needs to be calibrated for this to work?

Once I turn off depth registration, depthimage_to_laserscan starts using camera/depth/image_raw instead, and I can see both the image and the laserscan. Now calibrate.launch doesn't allow you to supply the IMU calibration shoulddepth_registration work correctly.parameter, however, so you need to copy the launch file and edit it to turn off depth registration:

<include file="$(find turtlebot_bringup)/launch/3dsensor.launch">
    <arg name="depth_registration" value="false" />
</include>

Got it... or at least this is one workaround. You must specify depth_registration:=false when you launch 3dsensor.launch. I'm not sure what's wrong with the depth-registered image but this is actually the default if you look in openni.launch. Maybe the Kinect needs to be calibrated for this registration to work?

Once Anyway, once I turn off depth registration, depthimage_to_laserscan starts using camera/depth/image_raw instead, and I can see both the image and the laserscan. calibrate.launch doesn't allow you to supply the depth_registration parameter, however, so you need to copy the launch file and edit it to turn off depth registration:

<include file="$(find turtlebot_bringup)/launch/3dsensor.launch">
    <arg name="depth_registration" value="false" />
</include>